Final Program

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Day 1 (23 June): Hotel venue - 9.00 – 13.00 Registration

  • 13.00 - 14:00 lunch
  • 14.00 - 14:30 Opening act
  • 14:30 - 16:30 session 1.1 = 6 papers x 20 min - Chairs: I-Ming Chen and Yoshiko Nakamura
  • 16.30 – 17.00 coffee break
  • 17.00 - 18:40 session 1.2 = 5 papers x 20 min - Chairs: Philippe Bidaud and Giuseppe Carbone
  • 19.30 - 21:00 Welcome buffet
  • 19.30 -21.00 meeting of the IFToMM Technical Committee for Robotics and Mechatronics

Day 2 (24 June): IMASH venue

  • 8.00 Bus departure from Hotel
  • 9.00 - 10:00 visit of IMASH (Artobolevski’s office, mechanism collection, etc.)
  • 10.00 - 11:00 Plenary speech by Bernard Roth (USA) - Chairs: Victor Glazunov and Marco Ceccarelli
  • 11.00 - 11:20 coffee break
  • 11.20 - 13:00 session 2.1 = 5 papers x 20 min - Chairs: Vigen Arakelyan and Kenji Hashimoto
  • 13.00 - 14:00 lunch
  • 14:00 - 16:00 session 2.2 = 6 papers x 20 min - Chairs: Teresa Zielinska and Yukio Takeda
  • 16.00 – 16.20 coffee break
  • 16.20 - 18:20 session 2.3 = 6 papers x 20 min - Chairs: Atsuo Takanishi and Branislav Borovac
  • 18.30 Bus departure to Hotel
  • 19.30 -21.30 meeting of the Scientific Committee for RoManSy

Day 3 (25 June): IMASH or Russian Academy of Science

  • 8.00 Bus departure from Hotel
  • 9.00 - 11:00 session 3.1 = 6 papers x 20 min - Chairs: Oussama Khatib and Sergey Vorotnikov
  • 11.00 - 11:20 coffee break
  • 11.20 - 13:20 session 3.2 = 6 papers x 20 min - Chairs: Werner Schiehlen and Sergey Gavryushin - 13.30 - 14:30 lunch
  • 14:30 - tour of the city
  • 20.00 – 24.00 - conference/gala dinner

Day 4 (26 June): Hotel

  • 9.00 - 11:00 session 4.1 = 6 papers x 20 min - Chairs: Vincenzo Parenti-Castelli and Assylbek Jormatov - 11.00 - 11:20 coffee break
  • 11.20 - 13:00 session 4.2 = 5 papers x 20 min. - Chairs: Qiang Huang and Sergey Jatsun
  • 13.00 - 14:00 lunch
  • 14:00 - 16:00 session 4.3 = 6 papers x 20 min - Chairs: Alberto Rovetta and Nikos Aspragathos
  • 16.00 – 16.20 coffee break
  • 16.20 - 18:00 session 4.4 = 5 papers x 20 min. - Chairs: Victor Glazunov and Dan Zhang
  • 18:15 closing act
Organized by Institute of Machines Science - RAS in Moscow IFToMM Member Organization of Russia ROMANSY 2014

Day 1: 23 June at Hotel venue

14:30 - 16:30 session 1.1: Kinematics of robotic systems
Chairs: I-Ming Chen and Yoshiko Nakamura

Parametric Method for Motion Analysis of Manipulators with Uncertainty in Kinematic Parameters
Vahid Nazari and Leila Notash

Self-adjusting isostatic exoskeleton for the elbow joint: Mechanical Design
Viet Anh Dung Cai and Bidaud Philippe

Design of Ankle Rehabilitation Mechanism Using a Quantitative Measure of Load Reduction
Daisuke Matsuura, Shouta Ishida, Tatsuya Koga and Yukio Takeda

Characterization of the Subsystems in the Special Three-Systems of Screws
Dimiter Zlatanov and Marco Carricato

Singularity Analysis of 3-DOF Translational Parallel Manipulator
Pavel Laryushkin, Victor Glazunov and Sergey Demidov

Generalised Complex Numbers in Mechanics
Joseph Rooney

17.00 - 18:40 session 1.2: Bio-robotics and grasping
Chairs: Philippe Bidaud and Giuseppe Carbone

Underactuated finger mechanism for LARM Hand
Marco Zottola and Marco Ceccarelli

Design and Kinematic Analysis of a Novel Cable-Driven Parallel Robot for Ankle Rehabilitation
Runtian Yu, Yuefa Fang and Sheng Guo

Position/force control of medical robot interacting with dynamic biological soft tissue
Vadim Golovin, Maksim Arkhipov and Vitaliy Zhuravle

Biomimicking a Brain-map based Carangiform Swimming Behaviour in a BCF Mode Robotic-Fish Underwater Vehicle
Abhro Roy Chowdhury

Variable Inertia Muscle Models for Musculoskeletal Dynamics
Minyeon Han and Frank Park

Day 2: 24 June at IMASH venue

10.00 - 11:00 Plenary speech Bernard Roth (USA): Ro. Man. Sy: Its Beginnings and its Founders
Chairs: Victor Glazunov and Marco Ceccarelli

11.20 - 13:00 session 2.1: Experimental robotics Chairs: Vigen Arakelyan and Kenji Hashimoto

Development of an origami type robot to realize transformation and movement
Kazuma Otani and Mitsuharu Matsumoto

From Lawnmower Dynamics to Modeling, Simulation and Experiments of a Differentially Driven Robot
Qirong Tang and Werner Schiehlen

Kinematic Analysis Validation and Calibration of a Haptic Interface
Mehmet Ismet Can Dede, Barış Taner, Tunç Bilgincan and Marco Ceccarelli

Problems of Increasing Efficiency and Experience of Walking Machines Elaborating
Eugene Briskin, Victor Shurygin, Vadim Chernyshev, Alexander Maloletov, Nikolai Sharonov, Yaroslav Kalinin, Alexander Leonard, Valery Serov, Konstantin Mironenko and Sergei Ustinov

Stiffness Analysis of WL-16RV Biped Walking Vehicle
Giuseppe Carbone and Kenji Hashimoto

14:00 - 16:00 session 2.2: Kinematics of robotic systems
Chairs: Teresa Zielinska and Yukio Takeda

On the Perturbation of Jacobian Matrix of Manipulators
Leila Notash

Accuracy improvement of robot-based milling using an enhanced manipulator model
Alexandr Klimchik, Yier Wu, Stéphane Caro, Benoit Furet and Anatol Pashkevich

Re-Designing of a New Tripod Based Hybrid Manipulator Based on Gf Set Theory
Dan Zhang and Bin Wei

Moving Mechanism Design and Analysis of Suspension Insulator Inspection Robot
Shujun Li, Hongguang Wang, Shichao Xiu, Xiaopeng Li and Zaohui Ren

Design of 4-DOF Parallelogram-based RCM Mechanisms with a Translational DOF Implemented Distal from the End-effector
Andy Gijbels, Dominiek Reynaerts and Emmanuel Benjamin Vander Poorten

Rotational Axes Analysis of the 2-RPU/SPR 2R1T Parallel Mechanism
Yundou Xu, Shasha Zhou, Jiantao Yao and Yongsheng Zhao

16.20 - 18:20 session 2.3: Humanoid robots
Chairs: Atsuo Takanishi and Branislav Borovac

Design choices in the development of a robotic head: human-likeness, form and colours
Scean Mitchell, Gabriele Trovato, Matthieu Destephe, Massimiliano Zecca, Kenji Hashimoto and Atsuo Takanishi

Hopping Robot using Pelvic Movement and Leg Elasticity
Takuya Otani, Kazuhiro Uryu, Masaaki Yahara, Akihiro Iizuka, Shinya Hamamoto, Shunsuke Miyamae, Kenji Hashimoto, Matthieu Destephe, Masanori Sakaguchi, Yasuo Kawakami, Hun-Ok Lim and Atsuo Takanishi

A Robotic Head that Displays Japanese “Manga” Marks
Tatsuhiro Kishi, Hajime Futaki, Gabriele Trovato, Nobutsuna Endo, Matthieu Destephe, Sarah Cosentino, Kenji Hashimoto and Atsuo Takanishi

Terrain-adaptive Biped Walking Control Using Three-point Contact Foot Mechanism Detectable Ground Surface
Kenji Hashimoto, Hyun-Jing Kang, Hiromitsu Motohashi, Hun-Ok Lim and Atsuo Takanishi

Biped Walking on Irregular Terrain Using Motion Primitives
Mirko Rakovic, Branislav Borovac, Milutin Nikolic and Srdjan Savic

Experimental Investigation of Human Exoskeleton Model
Ivan Ermolov, Valery Gradetsky, Artyom Sukhanov, Maxim Knyazkov and Eugeny Semyonov

Day 3: 25 June at IMASH or Science Academy

9.00 - 11:00 session 3.1: Control design for robots Chairs: Oussama Khatib and Sergey Vorotnikov

Quasi-static motions of a three-body mechanism along a plane
Igor Borisenko, Felix Chernousko and Tatiana Figurina

Control design for 3D flexible link mechanisms using linearized models
Paolo Boscariol, Erfan Shojaei Barjuei, Alessandro Gasparetto, Marco Giovagnoni and Renato Vidoni

Walking on slippery surfaces: generalized task-prioritization framework approach
Milutin Nikolic, Branislav Borovac and Mirko Rakovic

Autonomous robot control in partialy undetermined world via fuzzy logic
Yury Volodin, Boris Mikhaylov and Arkady Yuschenko

Laplacian Trajectory Vector Fields for Robotic Movement Imitation and Adaption
Thomas Nierhoff, Sandra Hirche and Yoshihiko Nakamura

Trajectory Planning of Redundant Planar Mechanisms for Reducing Task Completion Duration
Emre Uzunoğlu, M.I.Can Dede, Gökhan Kiper, Ercan Mastar and Tayfun Sığırtmaç

11.20 - 13:20 session 3.2: Dynamics of robotic systems
Chairs: Werner Schiehlen and Wisama Khalil

Recursive and Symbolic Calculation of the Stiffness and Mass Matrices of Parallel Robots
Sebastien Briot and Wisama Khalil

Kinematics, Dynamics, Control and Accuracy of Spherical Parallel Robot
Sergey Kheylo and Victor Glazunov

Dynamics and Control of a Two-Module Mobile Robot on a Rough Surface
Nikolai Bolotnik, Mikhail Pivovarov, Igor Zeidis and Klaus Zimmermann

Shaking Force and Shaking Moment Balancing in Robotics: a critical review
Vigen Arakelian

UGV Epi.q-Mod
Giuseppe Quaglia, Luca Butera, Emanuele Chiapello and Luca Bruzzone

Numerical Detection of Inactive Joints
Marek Wojtyra

Day 4: 26 June at Hotel venue

9.00 - 11:00 session 4.1: Applications
Chairs: Vincenzo Parenti-Castelli and Assylbek Jormatov

Distributing the Supporting Heads for Robotized Machining
Teresa Zielinska, Wlodzimierz Kasprzak, Cezary Zielinski and Wojciech Szynkiewicz

The Founder of Russian School of a Robotics (to the 100 Anniversary since the Birth of Academician E.P. Popov)
Evgeny A. Kotov, Anaid V. Nazarova and Sergey A. Vorotnikov

Falsework with Improved Rigidity of The Structure
Yerbol Temirbekov and Skanderbek Joldasbekov

Force capability polytope of a 3RRR Planar Parallel Manipulator
Leonardo Mejia Rincon and Daniel Martins

Interactive Design of a Controlled Driving Actuator
German Kreinin and Sergey Misyurin

Design and Implementation of Self-Balancing Camera Platform for a Mobile Robot
Emin Kececi, Volkan Bukey and Aydemir Arisoy

11.20 - 13:00 session 4.2: Novel robot designs and robot components
Chairs: Qiang Huang and Sergey Jatsun

Compliance Based Characterization of Spherical Flexure Hinges for Spatial Compliant Mechanisms
Farid Parvari Rad, Giovanni Berselli, Rocco Vertechy and Vincenzo Parenti Castelli

Analysis and synthesis of thin-walled robot elements with the guided deformation law
Sergey Gavryushin

HCLC Integration Design and High-Precision Control of a Kind of Joint for Space Manipulator
Zhihong Jiang, Hui Li, Que Dong, Bo Wei, Qiang Huang, Xiaodong Zhang, Zixing Tang and Wei Rao

A Novel Robotic Joint Actuation Concept: The Variable Mechanical Fuse, VMF
Yoichiro Dan and Oussama Khatib

Action of Robot with Adaptive Electric Drives of Modules
Konstantin Ivanov

14:00 - 16:00 session 4.3: Handling, intelligent manipulation and service robots
Chairs: Alberto Rovetta and Nikos Aspragathos

Internal Force-based Impedance Control for Cable-driven Parallel Robots
Christopher Reichert, Katharina Müller and Tobias Bruckmann

Time Optimal Manipulations with 3D Hyper Redundant Manipulators amidst Narrow Passages
Elias Xidias and Nikos Aspragathos

A Blocking Plate Manipulation Robot System Based on Image Recognition
Yonggui Wang, Xingguang Duan, Chang Li, Meng Li, Xiangzhan Kong, Yang Yang and Ningning Che

Walking mobile robot with manipulator - tripod
Victor Zhoga, Andrey Gavrilov, Vladimir Gerasun, Ivan Nesmianov, Vladimir Pavlovsky, Vladimir Skakunov, Victor Bogatyrev, Denis Golubev, Victor Dyashkin-Titov and Natalia Vorobieva

Dynamics Model of STB Projectile Loom
Assylbek Jomartov, Skanderbek Joldasbekov and Gakhip Ualiyev

Six-Link In-Pipe Crawling Robot
Sergey Jatsun, Oksana Loktionova and Andrei Malchikov

16.20 - 18:00 session 4.4: Sensor systems and perception for robots Chairs: Victor Glazunov and Dan Zhang

Brain Flow in Application for New Robotic POLIMI Platform
Alberto Rovetta

A dual formation constraint mechanism of mobile sensor network based on congestion will
Cheng Yang, Ping Song, Chuangbo Hao and Guang Wang

Investigation into the influence of the foot attachment point in the body on the four-link robot jump characteristics
Sergey Jatsun, Oksana Loktionova, Lyudmila Volkova and Andrey Yatsun

Kinematic Uncertainties in Human Motion Tracking and Interaction
Qilong Yuan and I-Ming Chen

Experiments of a human-robot social interactive system with whole-body movements
Gan Ma, Qiang Huang, Zhangguo Yu, Xuechao Chen, Libo Meng and Weimin Zhang

Other conferences

ARK 2014:
MUSME 2014: