A Study on Stability of Bipedal Locomotion
The theoretical study on bipedal locomotion is challenging because it may contribute to the understanding of human walking and to design of lower limb prosthesis and locomotion machine. Especially, the dynamic stabilization is one of the most important pr
- PDF / 26,014,458 Bytes
- 326 Pages / 483.416 x 691.987 pts Page_size
- 67 Downloads / 186 Views
AND
L ECT URES
No. 201
Ro. ma;n. sy. '73
FIRST CISM - IFToMM SYMPOSIUM 5 - 8 September 1978
ON THEORY AND PRACTICE
OF
ROBOTS AND MANIPULATORS
VOLUME I
UDINE 1974
SPRINGER-VERLAG WIEN GMBH
This work is subject to copyright All rights are reserved, whether the whole or part of the material is concerned specifically those of translation, reprinting, re-use of illustrations, broadcasting, reproduction by photocopying machine or similar means, and storage in data banks.
©
1972 by Springer-Verlag Wien
Originally published by Springer-Verlag Wien-New York in 1972
ISBN 978-3-211-81252-5 DOI 10.1007/978-3-7091-2993-7
ISBN 978-3-7091-2993-7 (eBook)
ORGANIZING COMMITTEE Chairman: Prof. A.E. KOBRINSKII Academy of Sciences of the USSR, ul. Griboedova 4,Moscow (Centre), 101000 (USSR) . Vice-Chairman: Prof..L. SOBRERO CISM, Palazzo del Torso, Piazza Garibaldi, Udine (Italy) Members: Acad. I.I. ARTOBOLEVSKII. Academy of Sciences of the USSR, ul. Griboedova 4,Moscow (Centre),101000 (USSR) Prof. G. BIANCHI Politecnico, Piazza L. da Vinci 32, 20133 Milano (Italy) Prof. J. KATO Waseda University, Faculty Shinjuku-ku - Tokyo (Japan)
of Science and Engineering, Nishiookubo,
Prof. M.S. KONSTANTINOV IFToMM Secretariat - P.O. Box 431 - Sofia C. (Bulgaria) Prof. A. MORECKI Technical University, Nowowiejska Street 22-24, Room 206 - Warsaw (Poland) Prof. A. ROMITI Politecnico, Corso Duca degli Abruzzi 24, 10129 Torino (Italy). Prof. B. ROTH Stanford University, Dept. of Mechanical Eng. - Stanford - California 94305 (U.S.A.) Prof. M. W. THRING University of London, Queen Mary College, Dept. of Mechanical Eng., Mile End Road - London E.l. (U.K.)
,
Dr. VUKOBRATOVIC Institut "Mihajlo Pupin", Volgina 15, 11000 Beograd (Jugoslavia)
IV
Organizing Committee
Prof. H.J. WARNECKE Institute for Production and Automation, University of Stuttgart, P.O. Box 951 - Stuttgart (F.R.G.) Assoc. Prof. D.E. WHITNEY_ Massachusetts Institute of Technology, Dept. of Mechanical Eng. Room 1-110 - Cambridge, Massachusetts 02139 (U.S.A.) Secretary :
Mrs. A. Bertozzi
CISM, Piazza Garibaldi 64989 - 22523
11 - 33100
Udine
(Italy) - Telephone
0432-
PREFACE
Trying to sum up the results of our Symposium, I recall some facts, pertaining to its organization and some events of two years ago, in particular. Then, in Cupari, Yugoslavia - a picturesque corner at the Mediterranean - in the course of the regular IV Congress of our Federation - a decision was taken to call this Symposium. At the same time we met with professor Sobrero, our host of to-day, the chief secretary of CISM- the organization that led with us the enormous work whose fruits we reap at present. This Symposium was the first of its kind for CISM, as well as for IFToMM. As I recall it now, already then, in Cupari, the initiative group of CISMIFToMM had no doubts about the large theoretical and practical importance of such Symposium. Already then it was quite clear, that the technique of robots will be in the nearest future of great applied and practical importance. At the same time
