ROBIAN Hip Joint: Analysis, Design and Simulation
This paper presents a novel 3-DOFs parallel-actuated mechanism for the hip joint of the biped robot named ROBIAN. This mechanism allows the terminal body to move within a cone from the nominal position and permits unlimited rotation about the cone pointin
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Series Editors: The Rectors Manuel Garcia Velarde -Madrid Mahir Sayir- Zurich Wilhelm Schneider- Wien The Secretary General Bernard Schrefler- Padua Former Secretary General Giovanni Bianchi -Milan Executive Editor Carlo Tasso - Udine
The series presents lecture notes, monographs, edited works and proceedings in the field of Mechanics, Engineering, Computer Science and Applied Mathematics. Purpose of the series is to make known in the international scientific and technical community results obtained in some of the activities organized by CISM, the International Centre for Mechanical Sciences.
INTERNATIONAL CENTRE FOR MECHANICAL SCIENCES COURSES AND LECTURES- No. 438
ROMANSY 14 THEORY AND PRACTICE OF ROBOTS AND MANIPULATORS PROCEEDINGS OF THE FOURTEENTH CISM-IFToMM SYMPOSIUM
EDITED BY GIOVANNI BIANCHI POLYTECHNIC OF MILAN
JEAN-CLAUDE GUINOT UNIVERSITE PIERRE et MARIE CURIE, PARIS CEZARY RZYMKOWSKI WARSAW UNNERSITY OF TECHNOLOGY
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Springer-Verlag Wien GmbH
This volume contains 410 illustrations
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. © 2002 by Springer-Verlag Wien Originally published by Springer-Verlag Wien New York in 2002
Softcover reprint of the hardcover 1st edition 2002
SPIN I 0885402
In order to make this volume available as economically and as
rapidly as possible the authors' typescripts have been reproduced in their original forms, This method unfortunately has its typographical limitations but it is hoped that they in no way distract the reader.
ISBN 978-3-7091-2554-0
ISBN 978-3-7091-2552-6 (eBook)
DOI 10.1007/978-3-7091-2552-6
PREFACE
For almost thirty years the biennial Ro.Man.Sy Symposia, organized jointly by CISM and IFToMM, have played a dynamic role in the development of the theory and practice of robotics. They are, traditionally, limited gatherings that encourage informal discussion and focus on the problems ofmechanics, while not neglecting other perspectives. In this framework the topics are: mechanics, motion control, sensing and programming, synthesis and design, applications, legged locomotion, and biomechanical aspects. The term robotics is understood to also include locomotion systems, exoskeletal and prosthetic devices, and, more generally, all robotized systems. Ro.Man.Sy 2002, which took place July 1-4 in Udine, Italy, was enriched with three keynote lectures, given by Manfred Hiller, Hendrik Van Brussel and Atuso Takanishi, who discussed new trends in applications and methodology. This fourteenth Symposium was the first to be held without Adam Morecki, perhaps more than anyone else responsible for the success of Ro.Man.Sy across the years. With the characteristic energy that he dedicated to all his undertakings, Adam contributed his scientific preparation and organizational competence to help make these meetings a unique occasion
