Advances in Service and Industrial Robotics: Proceedings of the 27th International Conference on Robotics in Alpe-Adria Danube Region (RAAD 2018)

Description

This volume contains the proceedings of the RAAD 2018 conference, covering major areas of research and development in robotics. It provides an overview on the advances in robotics, more specifically in novel design and applications of robotic systems; dexterous grasping, handling and intelligent manipulation; intelligent cooperating and service robots; advanced robot control; human-robot interfaces; robot vision systems and visual serving techniques; mobile robots; humanoid and walking robots; field and agricultural robotics; bio-inspired and swarm robotic systems; developments towards micro and nano-scale robots; aerial, underwater and spatial robots; robot integration in holonic manufacturing; personal robots for ambient assisted living; medical robots and bionic prostheses; intelligent information technologies for cognitive robots etc. The primary audience of the work are researchers as well as engineers in robotics and mechatronics. Front Matter ....Pages i-xix Front Matter ....Pages 1-1 Manipulator Collision Detection and Collided Link Identification Based on Neural Networks (Abdel-Nasser Sharkawy, Panagiotis N. Koustoumpardis, Nikos A. Aspragathos)....Pages 3-12 Virtual Guides for Redundant Robots Using Admittance Control for Path Tracking Tasks (Leon Žlajpah, Tadej Petrič)....Pages 13-23 New Variable Stiffness Safety Oriented Mechanism for Cobots’ Rotary Joints (Y. Ayoubi, M. A. Laribi, S. Zeghloul, M. Arsicault)....Pages 24-34 Safety Performance of a Variable Stiffness Actuator for Collaborative Robots (Juan Sandoval, Med Amine Laribi, Said Zeghloul, Marc Arsicault, Gérard Poisson)....Pages 35-43 Task Space Torque Profile Adaptations for Dynamical Human-Robot Motion Transfer (Tadej Petrič, Andrej Gams)....Pages 44-52 Progressive Automation of Repetitive Tasks Involving both Translation and Rotation (Fotios Dimeas, Zoe Doulgeri)....Pages 53-62 Real-Time Recognition of Extroversion-Introversion Trait in Context of Human-Robot Interaction (Zuhair Zafar, Sarwar Hussain Paplu, Karsten Berns)....Pages 63-70 Fully Integrated Torque-Based Collision Detection in Periodic Tasks for Industrial Robots with Closed Control Architecture (Zaviša Gordić, Kosta Jovanović)....Pages 71-81 Learning Spatio-temporal Characteristics of Human Motions Through Observation (Maria Koskinopoulou, Michail Maniadakis, Panos Trahanias)....Pages 82-90 Front Matter ....Pages 91-91 Identification of Upper Limb Motion Specifications via Visual Tracking for Robot Assisted Exercising (M. A. Laribi, A. Decatoire, Giuseppe Carbone, D. Pisla, S. Zeghloul)....Pages 93-101 Hand Rehabilitation Device Actuated by a Pneumatic Muscle (Carlo De Benedictis, Walter Franco, Daniela Maffiodo, Carlo Ferraresi)....Pages 102-111 Handheld Robotized Systems for Orthopedic Surgery (G. Boiadjiev, T. Boiadjiev, K. Delchev, R. Kastelov, K. Zagurki, I. Chavdarov)....Pages 112-120 Usability Study of Tele-controlled Service Robot for Increasing the Quality of Life of Elderly and Disabled – “ROBCO 17” (Nayden Chivarov, Denis Chikurtev, Ivaylo Rangelov, Emanuil Markov, Alexander Gigov, Nedko Shivarov et al.)....Pages 121-131 Human-Centered Service Robotic Systems for Assisted Living (Xanthi S. Papageorgiou, Georgia Chalvatzaki, Athanasios C. Dometios, Costas S. Tzafestas)....Pages 132-140 Front Matter ....Pages 141-141 Evaluation of UAV Based Schemes for Forest Fire Monitoring (V. C. Moulianitis, G. Thanellas, N. Xanthopoulos, Nikos A. Aspragathos)....Pages 143-150 Dense 3D Model Generation of a Dam Surface Using UAV for Visual Inspection (Stefano Angeli, Andrea Maria Lingua, Paolo Maschio, Luca Piantelli, Davide Dugone, Mauro Giorgis)....Pages 151-162 UAV Forest Monitoring in Case of Fire: Robustifying Video Stitching by the Joint Use of Optical and Thermal Cameras (Evangelos G. Sartinas, Emmanouil Z. Psarakis, Nefeli Lamprinou)....Pages 163-172 Towards Autonomous Surveying of Underground Mine Using MAVs (Christoforos Kanellakis, Sina Sharif Mansouri, George Georgoulas, George Nikolakopoulos)....Pages 173-180 Vision Based Horizon Detection for UAV Navigation (Stavros Timotheatos, Stylianos Piperakis, Antonis Argyros, Panos Trahanias)....Pages 181-189 Front Matter ....Pages 191-191 Hybrid Control Strategies for Jumping Robots (Mircea Ivanescu, Mircea Nitulescu, Cristian Vladu, Nguyen Van Dong Hai, Mihaela Florescu)....Pages 193-204 Experiences for a User-Friendly Operation of Cassino Hexapod III (Ernesto Christian Orozco Magdaleno, Daniele Cafolla, Marco Ceccarelli, Eduardo Castillo Castañeda, Giuseppe Carbone)....Pages 205-213 On the Kinematics of the Gait with Jumping Stilts (M. Garau, A. Manuello Bertetto, M. Ruggiu)....Pages 214-221 Upgrading a Legacy Outdoors Robotic Vehicle (Theodosis Ntegiannakis, Odysseas Mavromatakis, Savvas Piperidis, Nikos C. Tsourveloudis)....Pages 222-235 Large Scale Wireless Sensor Networks Based on Fixed Nodes and Mobile Robots in Precision Agriculture (Maximilian Nicolae, Dan Popescu, Daniel Merezeanu, Loretta Ichim)....Pages 236-244 Stair-Climbing Wheelchair.q05: From the Concept to the Prototype (Giuseppe Quaglia, Walter Franco, Matteo Nisi)....Pages 245-255 Stability Prediction of an UGV with Manipulator on Uneven Terrain (Massimo Tosa, Karsten Berns)....Pages 256-263 Modeling and Analysis of a Novel Passively Steered 4WD Mobile Platform Concept (Florian Pucher, Hubert Gattringer, Christoph Stöger, Andreas Müller, Ulrich Single)....Pages 264-271 Additive Manufacturing-Oriented Redesign of Mantis 3.0 Hybrid Robot (Luca Bruzzone, Pietro Fanghella, Giovanni Berselli, Pietro Bilancia)....Pages 272-280 Front Matter ....Pages 281-281 A Study of Feasibility for a Design of a Metamorphic Artificial Hand (F. J. Espinosa-Garcia, Giuseppe Carbone, M. Ceccarelli, D. Cafolla, M. Arias-Montiel, E. Lugo-Gonzalez)....Pages 283-290 Extending the Workspace of the PLVL-Variable Stiffness Actuator (Miha Dežman, Andrej Gams)....Pages 291-299 Mechatronic Design of a Gyro-Stabilized Bicycle (Hubert Gattringer, Andreas Müller, Matthias Jörgl)....Pages 300-307 Exchange of Effectors for Small Mobile Robots and UAV (Jaroslav Hricko, Stefan Havlik)....Pages 308-315 Task-Dependent Structural Modifications on Reconfigurable General Serial Manipulators (Mathias Brandstötter, Paolo Gallina, Stefano Seriani, Michael Hofbaur)....Pages 316-324 Design of a 3-DOFs Parallel Robotic Device for Miniaturized Object Machining (Francesco Aggogeri, Alberto Borboni, Angelo Merlo, Nicola Pellegrini, Monica Tiboni)....Pages 325-332 Numerical and Experimental Development of a Hub+Bearing System for Tire Pressure Control (Guido Belforte, Carlo Ferraresi, Daniela Maffiodo, Vladimir Viktorov, Carmen Visconte, Massimiliana Carello)....Pages 333-341 Design and Control Strategy of a Low-Cost Parallel Robot for Precise Solar Tracking (Arturo Díaz, Sajjad Keshtkar, Jaime A. Moreno, Eusebio Hernandez)....Pages 342-350 Off-line Robot Optimization with Hybrid Algorithm (Ápostolos Tsagaris, Dimitrios Sagris, Gabriel Mansour)....Pages 351-358 Optimal Task Placement in a Metamorphic Manipulator Workspace in the Presence of Obstacles (V. C. Moulianitis, E. Xidias, P. Azariadis)....Pages 359-367 Minimization of Joint Velocities During the Execution of a Robotic Task by a 6 D.o.F. Articulated Manipulator (C. Valsamos, A. Wolniakowski, K. Miatliuk, V. C. Moulianitis)....Pages 368-375 Approach in the Integrated Structure-Control Optimization of a 3RRR Parallel Robot (S. Ivvan Valdez, M. Infante-Jacobo, S. Botello-Aceves, Eusebio Hernández, E. Chávez-Conde)....Pages 376-386 Front Matter ....Pages 387-387 Studying Various Cost Functions by Nonlinear Programming for the Control of an Underactuated Mechanical System (Tamás Faitli, József K. Tar)....Pages 389-397 Nonlinear Control for Vibration Rejection in a System Containing a Flexible Beam and Belts (Matthias Jörgl, Hubert Gattringer, Andreas Müller)....Pages 398-406 Hyper-redundant Robot Control System in Compliant Motions (Viorel Stoian, Ionel Cristian Vladu)....Pages 407-415 On the Common Control Design of Robotic Manipulators Carrying Different Loads (Fotis N. Koumboulis)....Pages 416-424 Cascade Gain Scheduling Control of Antagonistic Actuators Based on System Identification (Branko Lukić, Kosta Jovanović, Tomislav B. Šekara)....Pages 425-435 Inverted Pendulum on a Cart Pneumatically Actuated by Means of Digital Valves (F. Colombo, L. Mazza, G. Pepe, T. Raparelli, A. Trivella)....Pages 436-444 Front Matter ....Pages 445-445 Passing Through Jacobian Singularities in Motion Path Control of Redundant Robot Arms (Evgeniy Krastev)....Pages 447-455 Trajectory Planning for Additive Manufacturing with a 6-DOF Industrial Robot (David Kraljić, Roman Kamnik)....Pages 456-465 Behavior-Based Local Path-Planning by Exploiting Inverse Kinematics on FPGA (Alexander Köpper, Karsten Berns)....Pages 466-474 Activation Algorithms for the Micro-manipulation and Assembly of Hexagonal Microparts on a Programmable Platform (Georgia Kritikou, Nikos A. Aspragathos)....Pages 475-482 Iterative Learning Control for Precise Trajectory Tracking Within a Constrained Workspace (Kaloyan Yovchev)....Pages 483-492 A Reinforcement Learning Based Algorithm for Robot Action Planning (Marko Švaco, Bojan Jerbić, Mateo Polančec, Filip Šuligoj)....Pages 493-503 Safe and Efficient Autonomous Navigation in the Presence of Humans at Control Level (Klaus Buchegger, George Todoran, Markus Bader)....Pages 504-511 Avoiding Sets of Measure-Zero in Navigation Transformation Based Controllers (Savvas G. Loizou)....Pages 512-520 SkyBat: A Swarm Robotic Model Inspired by Fission-Fusion Behaviour of Bats (Ján Zelenka, Tomáš Kasanický, Ivana Budinská, Ladislav Naďo, Peter Kaňuch)....Pages 521-528 Front Matter ....Pages 529-529 Experimental Measurement of Underactuated Robotic Finger Configurations via RGB-D Sensor (Renato Brancati, Chiara Cosenza, Vincenzo Niola, Sergio Savino)....Pages 531-537 Finger Joint Detection Vision Algorithm for Autonomous Rheumatoid Ultrasound Scan (Nikolaj Iversen, Søren Andreas Just, Thiusius Rajeeth Savarimuthu)....Pages 538-550 Robot-Driven Autofocus Control Mechanism for an In-hand Fixed Focus Camera (Robert Bevec, Timotej Gašpar, Aleš Ude)....Pages 551-559 Real Time Eye Localization and Tracking (Nikolaos Poulopoulos, Emmanouil Z. Psarakis)....Pages 560-571 Graph-Based Semantic Segmentation (Vasiliki Balaska, Loukas Bampis, Antonios Gasteratos)....Pages 572-579 SeqSLAM with Bag of Visual Words for Appearance Based Loop Closure Detection (Konstantinos A. Tsintotas, Loukas Bampis, Stelios Rallis, Antonios Gasteratos)....Pages 580-587 Real Time Sub Image Localization for Tracking (Karol Dobrovodský, Pavel Andris)....Pages 588-596 Upper Layer Extraction of a Folded Garment Towards Unfolding by a Robot (Dimitra Triantafyllou, Nikos A. Aspragathos)....Pages 597-604 Front Matter ....Pages 605-605 The Case of Industrial Robotics in Croatia (Marko Švaco, Bojan Jerbić, Ivan Župančić, Nikola Vitez, Bojan Šekoranja, Filip Šuligoj et al.)....Pages 607-617 Decentralizing Cloud Robot Services Through Edge Computing (Florin Anton, Th. Borangiu, O. Morariu, Silviu Răileanu, Silvia Anton, Nick Ivănescu)....Pages 618-626 Smart Cyber-Physical System to Enhance Flexibility of Production and Improve Collaborative Robot Capabilities – Mechanical Design and Control Concept (Aleksandar Rodić, Ilija Stevanović, Miloš Jovanović)....Pages 627-639 Automatic Painting and Paint Removal System: A Preliminary Design for Aircraft Applications (Umberto Morelli, Matteo D. L. Dalla Vedova, Paolo Maggiore)....Pages 640-650 Base Frame Calibration of a Reconfigurable Multi-robot System with Kinesthetic Guidance (Timotej Gašpar, Robert Bevec, Barry Ridge, Aleš Ude)....Pages 651-659 Compensating Position Measurement Errors for the IR Static Triangulation System (Maciej Ciężkowski, Adam Wolniakowski)....Pages 660-668 Efficient, Precise, and Convenient Calibration of Multi-camera Systems by Robot Automation (Tobias Werner, David Harrer, Dominik Henrich)....Pages 669-677 A Lumped Model for Grooved Aerostatic Pad (F. Colombo, L. Lentini, T. Raparelli, A. Trivella, V. Viktorov)....Pages 678-686 Front Matter ....Pages 687-687 Social Robotics in Education: State-of-the-Art and Directions (T. Pachidis, E. Vrochidou, V. G. Kaburlasos, S. Kostova, M. Bonković, V. Papić)....Pages 689-700 MYrobot – Mobile Educational Platform (Ondrej Karpis, Juraj Micek, Veronika Olesnanikova)....Pages 701-709 On Ethical and Legal Issues of Using Drones (Ivana Budinska)....Pages 710-717 Effects of Physical Activity Based HCI Games on the Attention, Emotion and Sensory-Motor Coordination (Hasan Kandemir, Hatice Kose)....Pages 718-727 The Impact of Robotics in Children Through Education Scenarios (Ápostolos Tsagaris, Maria Chatzikyrkou, Gabriel Mansour)....Pages 728-736 Trends in Educational Robotics (Daniela Floroiu, Paul C. Patic, Luminita Duta)....Pages 737-744 Back Matter ....Pages 745-747