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ORCIDARK 2022: Bilbao, Spain
- Oscar Altuzarra
, Andrés Kecskeméthy:
Advances in Robot Kinematics 2022, ARK 2022, Bilbao, Spain, June 26-30, 2022. Springer Proceedings in Advanced Robotics 24, Springer 2022, ISBN 978-3-031-08139-2
Theoretical Kinematics
- Manfred L. Husty:
Möbius Linkages. 3-12 - Georg Nawratil:
On Origami-Like Quasi-mechanisms with an Antiprismatic Skeleton. 13-21 - J. M. Selig:
Line-Point Constraints and Robot Surgery. 22-29 - Bertold Bongardt, Andreas Müller:
On the Use of Ternary Products to Characterize the Dexterity of Spatial Kinematic Chains. 30-38 - Shaoping Bai:
Extended Rotation Matrix for Kinematics of Pointing Mechanisms. 39-46 - Nicolas Torres Alberto, Lucas Joseph, Vincent Padois, David Daney:
A Linearization Method Based on Lie Algebra for Pose Estimation in a Time Horizon. 47-56 - Daniel Condurache:
Hyper-multidual Algebra and Higher-Order Kinematics. 57-64 - Durgesh Haribhau Salunkhe, Jose Capco, Damien Chablat, Philippe Wenger:
Geometry Based Analysis of 3R Serial Robots. 65-72 - Fernando Vinicius Morlin, Vinícius Noal Artmann, Andrea Piga Carboni, Daniel Martins:
Synthesis of Gripper Mechanisms Derived from Baranov Chains. 73-80 - Zijia Li, Andreas Müller:
6R Linkages with Hidden Singularities. 81-89
Cable Driven Manipulators
- Leonardo Mejia, Fabricio Frantz, Daniel Ponce, Daniel Martins:
Best Operation Regions in a Planar Cable Driven System. 93-100 - Marceau Métillon, Camilo Charron, Kévin Subrin, Stéphane Caro:
Stiffness and Transparency of a Collaborative Cable-Driven Parallel Robot. 101-109 - Bozhao Wang, Philippe Cardou, Stéphane Caro:
An Approach for Predicting the Calibration Accuracy in Planar Cable-Driven Parallel Robots. 110-121 - Jean-Pierre Merlet, Romain Tissot:
A Panorama of Methods for Dealing with Sagging Cables in Cable-Driven Parallel Robots. 122-130 - Sara Gabaldo, Edoardo Idà, Marco Carricato:
Sensitivity of the Direct Kinematics of Underactuated Cable-Driven Parallel Robots to Redundant Sensor-Measurement Errors. 131-138 - Dhruva Khanzode, Ranjan K. Jha, Emilie Duchalais, Damien Chablat:
Stacked Tensegrity Mechanism for Medical Application. 139-148 - Vimalesh Muralidharan, Philippe Wenger, Christine Chevallereau:
Kinematic and Static Analysis of a Cable-Driven 2-X Tensegrity Manipulator for Two Actuation Strategies. 149-159
Computational Kinematics
- Hélène Chanal, Rani Rizk, Nicolas Bouton, Benoît Blaysat:
Complete Inverse Geometric Model Computation of the Quattro Parallel Kinematic Robot. 163-170 - Iosif Birlescu, Calin Vaida, Alexandru Pusca, Gabriela Rus, Doina Pisla:
A New Approach to Forward Kinematics for a SILS Robotic Orientation Platform Based on Perturbation Theory. 171-178 - Shashank Ramesh, Pranathi Golla, Prem Kumar Prasad, Sandipan Bandyopadhyay:
Forward Kinematics of a Novel 6-DoF Spatial Hybrid Manipulator. 179-187 - Moritz Schappler:
Structural and Dimensional Synthesis of Overconstraint Symmetric 3T2R Parallel Robots Using Tait-Bryan-Angle Kinematic Constraints. 188-197 - Moritz Schappler:
Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators Using Tait-Bryan-Angle Kinematic Constraints. 198-207
Continuum Mechanisms
- Francisco J. Campa, D. Diaz-Caneja, Mikel Diez, Oscar Altuzarra:
Analysis of a Compliant Parallel Manipulator for Torso Balance Rehabilitation. 211-219 - Philipp Jahn, Jakob Hentschel, Annika Raatz:
Design and Analysis of a Compliant Parallel Robot with Cardan Joints for a Cryogenic Working Environment. 220-227 - Yuhang Lei, Yusuke Sugahara, Yukio Takeda:
Design and Inverse Kinematics of a Novel Tendon-Driven Continuum Manipulator Capable of Twisting Motion. 228-236 - Neel Shihora, Nabil Simaan:
Geometric Insights into Kinematically-Singular Configurations of Planar Continuum Robots. 237-247 - Andrea Gotelli, Federico Zaccaria, Olivier Kermorgant, Sébastien Briot:
A Gazebo Simulator for Continuum Parallel Robots. 248-256 - Caitlyn Mundrane, Meysam T. Chorsi, Olga Vinogradova, Horea T. Ilies, Kazem Kazerounian:
Exploring Electric Field Perturbations as the Actuator for Nanorobots and Nanomachines. 257-265
Mechanism Synthesis
- Aitor Muñoyerro, Alfonso Hernández, Mónica Urízar, Oscar Altuzarra:
General Procedure for Path Generation Synthesis Based on Kinematic Constraints. 269-276 - Aravind Baskar, Mark M. Plecnik, Jonathan D. Hauenstein:
Finding Straight Line Generators Through the Approximate Synthesis of Symmetric Four-Bar Coupler Curves. 277-285 - Alba Perez Gracia:
A Method for the Complete Set of Solutions of the Finite-Position Synthesis Problem. 286-293 - Thiago Hoeltgebaum, Luan Meneghini, Vinicius N. Artmann, Daniel Martins:
Classification of Mobilities - New Insights on an Old Topic. 294-302 - Chiara Lanni, Giorgio Figliolini, Luciano Tomassi:
First and Second Order Centrodes of Slider-Crank Mechanisms by Using Instantaneous Invariants. 303-310 - M. John D. Hayes, Mirja Rotzoll, Zachary Copeland:
Spherical 4R Linkage Algebraic $\boldsymbol{v_i}$-$\boldsymbol{v_j}$ Input-Output Equations. 311-319
Spherical Mechanisms
- Federico Thomas:
Kinematics of a Gear-Based Spherical Mechanism. 323-331 - H. El Jjouaoui, Giorgio-Mackenzie Cruz-Martinez, Juan-Carlos Avila-Vilchis, Adriana Vilchis Gonzalez, Salih Abdelaziz, Philippe Poignet:
Modeling of a Remote Center of Motion Spherical Parallel Tensegrity Mechanism for Percutaneous Interventions. 332-339 - Henrique Simas, Roberto Simoni, Raffaele Di Gregorio:
Wriflex: Design and Kinematic Analysis of a Self-aligning Parallel Wrist. 340-347 - Christoph Stoeffler, Adriano del Rio Fernandez, Heiner Peters, Moritz Schilling, Shivesh Kumar:
Kinematic Analysis of a Novel Humanoid Wrist Parallel Mechanism. 348-355
Biomechanics
- Katharina Müller, Andrés Kecskeméthy:
Smooth Wrapping of Stretchable Thick Strands Over a Surface - The 2D Case. 359-366 - Michele Conconi, Nicola Sancisi, Vincenzo Parenti-Castelli:
Exploiting Reciprocity Between Constraints and Instantaneous Motion to Reconstruct Individual Knee Kinematics. 367-374 - Jakob Ziegler, Hubert Gattringer, Andreas Müller:
Generation of Parametric Gait Patterns. 375-382 - Elena Galbally Herrero, Adrian Piedra, Cynthia Brosque, Oussama Khatib:
Parametrization of Compliant, Object-Level Controllers from Human Demonstrations. 383-395
Linkages
- Moritz Schappler, Tobias Blum, Tim-David Job:
Geometric Model for Serial-Chain Robot Inverse Kinematics in Case of Two Translational DoF, Spatial Rotation and Functional Redundancy. 399-408 - Federico Thomas, Josep M. Porta:
The Distance Geometry of the Generalized Lobster's Arm. 409-417 - Aritra Das, Anirban Nag, Subir Kumar Saha:
Degenerate Cases in the Inverse Kinematics Problem of a General 6R Serial Robot. 418-425 - Volkert van der Wijk:
The Spatial Pantograph and Its Mass Balance. 426-433 - Zijia Li:
A New Family of Overconstrained P5R-Mechanisms. 434-441
Motion Planning
- José L. Pulloquinga, Rafael J. Escarabajal, Marina Vallés, Ángel Valera, Vicente Mata:
Trajectory Planner for Type II Singularities Avoidance Based on Output Twist Screws. 445-452 - Amir Shahidi, Thomas Kinzig, Mathias Hüsing, Burkhard Corves:
Kinematically Adapted Sampling-Based Motion Planning Algorithm for Robotic Manipulators. 453-461 - Markus Schmitz, Florian Menz, Mathias Hüsing, Burkhard Corves:
Robotic Analysation Methodology for Multidirectional Additive Manufacturing Process Configuration. 462-469 - Iman Soodmand, Maeruan Kebbach, Sven Herrmann, Rainer Bader, Christoph Woernle:
An Artificial Potential Field Algorithm for Path Planning of Redundant Manipulators Based on Navigation Functions. 470-477 - Joana Coelho, Bruno Dias, Gil Lopes, A. Fernando Ribeiro, Paulo Flores:
Reactive Locomotion of a Hexapod for Navigation Across Irregular Ground. 478-485 - Guanglei Wu, Chuangchuang Cui, Huiping Shen:
Trajectory Tracking by Fuzzy-Based Super-Twist Sliding Mode Control of a Parallel PnP Robot. 486-493
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