Teresa Zielinska & Cezary Zielinski 
ROMANSY 16 [PDF ebook] 
Robot Design, Dynamics and Control

Keynote Lectures.- Humanoid Robotics, Culture and Society of Japan.- The Human Frontier: Robotics New Quest and Challenge.- Standardization: A Logical Step in Sustained Space Exploration.- Robot design.- Design and Singularity Criteria of Parallel Manipulators.- L-legs for the Design of Mini and Micro Parallel Compliant Mechanisms.- A singularity free parallel robotic mechanism for aiming antennas and cameras.- Virtual Prototyping of a New Parallel Robot for Milling.- A New Approach for the evaluation of kinematic and static performances of a family of 3-UPU translational manipulators.- Geometric Configuration in Robot Kinematic Design.- Mechanism Performance.- Improvement of Positioning Accuracy of PAMINSA (Parallel Manipulator of the I.N.S.A.).- The Impact of Friction on the Dynamics of Parallel Robotic Manipulators.- Dynamics Aspects of Parallel Anthropomorphic Robots.- Workspace Comparison of Kinematically Redundant Planar Parallel Manipulators.- Dexterity Analysis of Planar Parallel Manipulators.- Stiffness experimental monitoring for WL-16RII Biped Locomotor during walking.- Estimation of Leg Stiffness Parameters of a 6DOF Parallel Mechanism.- Invariant Error Dynamics Controller for a 6-dof Electrohydraulic Stewart Platform.- Motion Planning and Synthesis.- Hyperbolic-linear, Extended Jacobian Inverse Kinematics Algorithm for Doubly Nonholonomic Mobile Manipulators.- Local Variation Method to Determine Cheap Path for Nonholonomic Systems.- Nonlinearity detection and reduction based on unnormalized quasi-velocities.- Motion Planning for Collision Avoidance via Cylindrical Models of Rigid Bodies.- On the Dynamic Stability of Off-Road Vehicles.- Sub-Optimal Motion Planner of Mobile Manipulators in Generalized Point-to-Point Task With Stability Constraint.- A Decoupled Approach to Optimal Time Energy Trajectory Planning of Parallel Kinematic Machines.- Reliable and Adjustable Biped Gait Generation for Slopes Using a GA Optimized Fourier Series Formulation.- A Simplified Method for Generating 3D Gait Using Optimal Sagittal Gait.- Control Methods and Systems.- The Largest Feedback-Linearizable Subsystem of a Class of Wheeled Robots Moving on an Inclined Plane.- Leg Thrust Control for Stabilization of Dynamic Gaits in a Quadruped Robot.- Vehicle Dynamics of Redundant Mobile Robots with Powered Caster Wheels.- Matrix-based Supervisory Controller of Transition-Function Specified Robot Controllers.- Control Architecture for Sensor-Based Two-Handed Manipulation.- Humanoids.- The mechanical improvements of the anthropomorphic flutist robot WF-4RII to increas the sound clarity and to enhance the interactivity with humans.- Mechanical Design of Emotion Expression Humanoid Robot WE-4RII.- The Mechatronic Design of a Human-like Robot Head.- Human Equilibrium Control Principles Implemented into a Biped Humanoid Robot.- Development of a New Humanoid Robot to Realize Various Walking Pattern Using Waist Motions.- From the Human Hand to a Humanoid Hand: Biologically-Inspired Approach for the Development of Robo Casa Hand #1.- Biology and Robotics — Specialized Tools and Methods.- Towards Realistic Surgical Simulation: Biomechanics of Needle Insertion into the Brain.- Robotic System for Femoral & Tibial Osteotomies Assistance.- WL-16RII: Prototype of Biped Walking Wheelchair.- Prosthesis Design by Robotic Approaches Part 1: Metabolical Cost.- Prosthesis Design by Robotic Approaches Part 2: Optimization Approach.- Innovative technologies in robotics.- Sound Source Detection System for Control of an Autonomous Mobile Robot, a Behaviour-Based Approach.- Development and Control of Wheeled Vehicle that Balances on a Rolling Basketball.- Durability of Large-Deflective Hinges made of Blend Polypropylene used for Molded Pantograph Mechanisms.- Mobile Robots Based on Magnetizable Elastic Elements and Ferrofluids.- A Flexure-Based Electromagnetic Linear Actuator for Nano-Positioning.- An Infrared Location System for Relative Pose Estimation of Robots.- Design and Control of the Ball Wheel Drive Mechanism for a Robust Omnidirectional Wheeled Mobile Platform.- Space Robotics.- Results and Verification of Spacecraft Docking Emulation using Hardware-in-the-Loop Simulation.- On Dynamic Analysis and Control of a Novel Orbital Debris Disposer.- Trajectory Generation for Satellite Capture Using a Redundant Manipulator.- Innovative methods of evaluation in space robotics and surgical robotics design.- Vision and navigation.- Visual Target Detection in Unstructured Environments — A Novel Technique for Robotic Navigation.- Hand image interpretation based on double active contour tracking.- Mobile robot localization using laser range scanner and omnicamera.- Navigation of an Autonomous Ground Vehicle – Gate Recognition and Crossing.

Teresa Zielinska, Cesary Zielinski, both: Warsaw University of Technology