Front Matter ....Pages i-xiv
Advances in Robot Kinematics Facts and Thoughts (Jadran Lenarčič)....Pages 1-6
Inverse Kinematics Using a Converging Paths Algorithm (Omid Heidari, Alba Perez Gracia)....Pages 7-14
Design Parameters Influence on the Static Workspace and the Stiffness Range of a Tensegrity Mechanism (G. M. Cruz-Martinez, J-C Avila Vilchis, A. Vilchis Gonzalez, S. Abdelaziz, P. Poignet)....Pages 15-24
Bennett Based Balanced Butterfly Linkage, Deployable Linkage with Inherent Balance (Volkert van der Wijk)....Pages 25-32
A Compliant Linkage for Cooperative Object Manipulation Through a Heterogeneous Mobile Multi-robot System (Juan Mauricio Toro Ramos, Dhruvin Doshi, Daniel Schütz, Franz Dietrich)....Pages 33-40
One Degree of Freedom 7-R Closed Loop Linkage as a Building Block of Nanorobots (Meysam T. Chorsi, Pouya Tavousi, Caitlyn Mundrane, Vitaliy Gorbatyuk, Horea Ilies, Kazem Kazerounian)....Pages 41-48
Modeling and Control of a Redundant Tensegrity-Based Manipulator (Jérémy Begey, Marc Vedrines, Pierre Renaud, Nicolas Andreff)....Pages 49-56
Motion Parameterization of Parallel Robots Used in Lower Limb Rehabilitation (Iosif Birlescu, Manfred Husty, Calin Vaida, Bogdan Gherman, Ionut Ulinici, Remus Bogateanu et al.)....Pages 57-64
Robust Trajectory Planning of Under-Actuated Cable-Driven Parallel Robot with 3 Cables (Edoardo Idà, Sébastien Briot, Marco Carricato)....Pages 65-72
On the Plane Symmetric Bricard Mechanism (J. M. Selig)....Pages 73-81
Exact Coupler-Curve Synthesis of Four-Bar Linkages with Fully Analytical Solutions (Shaoping Bai, Rui Wu, Ruiqin Li)....Pages 82-89
A General Method for Determining Algebraic Input-Output Equations for Planar and Spherical 4R Linkages (Mirja Rotzoll, M. John D. Hayes, Manfred L. Husty, Martin Pfurner)....Pages 90-97
The Forward Kinematics of the 4-1 Cable-Driven Parallel Robot with Non Elastic Sagging Cables (J-P. Merlet)....Pages 98-108
The Geometrical Arrangement of Joint Constraints that Makes Natural Motion Possible: Experimental Verification on the Ankle (Michele Conconi, Nicola Sancisi, Vincenzo Parenti-Castelli)....Pages 109-116
Development of a Vector Geometrical Model for PKM Identification (J.-B. Guyon, B. Boudon, H. Chanal, B. Blaysat)....Pages 117-124
Wohlhart’s Three-Loop Mechanism: An Overconstrained and Shaky Linkage (Andreas Müller)....Pages 125-132
Invariants for Multi-twists, Screw Systems and Serial Manipulators (Peter Donelan)....Pages 133-141
Singularity-Free Extraction of a Dual Quaternion from Orthogonal Dual Tensor (Daniel Condurache)....Pages 142-149
Singularities in the Image-Based Visual Servoing of Five Points (Abhilash Nayak, Sébastien Briot)....Pages 150-157
Real-Time Motion-Planning in Dynamic Environments via Enhanced Velocity Obstacle (Amir Shahidi, Katrin Peitsch, Stefan Klimmek, Mathias Hüsing, Burkhard Corves)....Pages 158-165
Algebraic Analysis of 3-RRC Parallel Manipulators (Abhilash Nayak, Martin Pfurner, Huiping Shen, Manfred Husty)....Pages 166-173
Magneto-Inertial Data Sensory Fusion Based on Jacobian Weighted-Left-Pseudoinverse (Janez Podobnik, Marko Munih, Matjaž Mihelj)....Pages 174-181
Evaluating the Snappability of Bar-Joint Frameworks (G. Nawratil)....Pages 182-189
Method for Selecting Self-aligning Mechanisms Enumerated by Matroid Contractions (Rodrigo Luis Pereira Barreto, Andrea Piga Carboni, Roberto Simoni, Daniel Martins)....Pages 190-198
A Real-Time Capable Forward Kinematics Algorithm for Cable-Driven Parallel Robots Considering Pulley Kinematics (João Cavalcanti Santos, Marc Gouttefarde)....Pages 199-208
Stiffness Oriented Tension Distribution Algorithm for Cable-Driven Parallel Robots (Etienne Picard, Stéphane Caro, Franck Plestan, Fabien Claveau)....Pages 209-217
A Forward Kinematic Code for Cable-Driven Parallel Robots Considering Cable Sagging and Pulleys (Marc Fabritius, Andreas Pott)....Pages 218-225
Singularity and Workspace Analysis of 3-SPS-U and 4-SPS-U Tensegrity Mechanisms (Swaminath Venkateswaran, Damien Chablat)....Pages 226-233
Degeneration to Infinity May Provide Information About Kinematics (Michel Coste, Nestor Djintelbe)....Pages 234-241
Kinematic Synthesis of a Modified Jansen Leg Mechanism (Kevin Chen, J. Michael McCarthy)....Pages 242-249
Exponential Displacement Coordinates by Means of the Adjoint Representation (Bertold Bongardt, John J. Uicker)....Pages 250-258
A Comparative Study on 2-DOF Variable Stiffness Mechanisms (Christoph Stoeffler, Shivesh Kumar, Andreas Müller)....Pages 259-267
Kinematics and Orientation Workspace of a 3-DOF Parallel Robotic Wrist Actuated by Spherical Four-Bar Linkages (Guanglei Wu, Ning Zhang, Chuangchuang Cui, Huiping Shen, Xuping Zhang)....Pages 268-276
Analytical Determination of the Longest Cylinder Free of Gain-type Singularities Inside the Workspace of a (3)-RPS Spatial Manipulator (Argaja Deepak Shende, Bibekananda Patra, Prem Kumar Prasad, Sandipan Bandyopadhyay)....Pages 277-284
Clifford’s Identity and Generalized Cayley-Menger Determinants (Federico Thomas, Josep M. Porta)....Pages 285-292
A New Approach for Continuous Wrapping of a Thick Strand on a Surface — The Planar Case with Constant Length and Free Ends (Katharina Müller, Andres Kecskemethy)....Pages 293-302
Higher Order Path Synthesis of Four-Bar Mechanisms Using Polynomial Continuation (Aravind Baskar, Mark Plecnik)....Pages 303-310
Development of a Reconfigurable Four-Bar Mechanism for a Human Robot Collaborative Gripper (Keerthi Sagar, Vishal Ramadoss, Michal Jilich, Matteo Zoppi, Dimiter Zlatanov, Alessandro Zanella)....Pages 311-318
Kinematic Analysis of a Planar Manipulator with Anti-parallelogram Joints and Offsets (Philippe Wenger, Matthieu Furet)....Pages 319-326
On Singularity and Instability in a Planar Parallel Continuum Mechanism (Oscar Altuzarra, Francisco J. Campa)....Pages 327-334
Modeling and Simulation of Hybrid Soft Robots Using Finite Element Methods: Brief Overview and Benefits (Stanislao Grazioso, Giuseppe Di Gironimo, Luciano Rosati, Bruno Siciliano)....Pages 335-340
Exoskeleton Control Based on Network of Stable Heteroclinic Channels (SHC) Combined with Gaussian Mixture Models (GMM) (Tadej Petrič, Marko Jamšek, Jan Babič)....Pages 341-348
Model Predictive Controller for a Planar Tensegrity Mechanism with Decoupled Position and Stiffness Control (JR Jurado Realpe, Salih Abdelaziz, Philippe Poignet)....Pages 349-358
Back Matter ....Pages 359-360