Latest Advances in Robot Kinematics

Preface. - The Dual Generalized Inverses and Their Applications in Kinematic Synthesis; Jorge Angeles. - On the Twist Recovery Methodologies after Failure; Leila Notash. - A Loop-Based Approach for Rigid Subchain Identification in General Mechanisms; Shuxian Xia, Huafeng Ding and Andres Kecskemethy. - Self-Motions of Planar Projective Stewart Gough Platforms; G. Nawratil. - Asymptotic Singularities of Planar Parallel 3-R Manipulators; Michel Coste. - Classification of the Singularity Loci of m-n Fully-Parallel Manipulators; Raffaele Di Gregorio. - Compensation of Compliance Errors in Parallel Manipulators Composed of Non-perfect Kinematic Chains; Alexandr Klimchik, Anatol Pashkevich, Damien Chablat and Geir Hovland. - Motion Planning of the Multi-Bar System: The Imbalanced Jacobian Algorithm; Janusz Jakubiak, Krzysztof Tcho' n and Mariusz Janiak. - Self-Calibration of Redundantly Actuated PKM Based on Motion Reversal Points; Andreas Muller and Maurizio Ruggiu. - Managing the Redundancy of $N-1$ Wire-Driven Parallel Robots; J-P. Merlet. - Validation of a Power Grasping Algorithm for an Anthropomorphic Robotic Hand on the Basis of Human Grasping Action; F. Cordella, L. Zollo, A. Salerno, E. Guglielmelli and B. Siciliano. - On the Vertical Darboux Motion; Chung-Ching Lee and Jacques M. Hervé. - Kinematic Analysis of a Planar Tensegrity Mechanism for Wave Energy Harvesting; Rafael E. Vasquez, Carl D. Crane III and Julio C. Correa. - Motion Planning for Parallel Robots with Non-Holonomic Joints; Krzysztof Tcho' n, Janusz Jakubiak, Patrick Grosch and Federico Thomas. - Synthesis of a Family of Regular Deployable Polyhedral Mechanisms (DPMs); Guowu Wei and Jian S. Dai. - Type Synthesis of Binary Actuated Parallel Mechanisms; D. Schutz, R. J. Ellwood, A. Raatz and J. Hesselbach. -Biokinematic Study of Barn Owl Head Movements for the Development of a Bio-Inspired Active Vision Robotic System; Ouriel Barzilay, Yoram Gutfreund and Alon Wolf. - Robotic Fish Kinectics Design Based on aFuzzy Control; Pei-Jun Lee and Wen-June Wang. - Persistent Screw Systems of Dimension Four; Marco Carricato. - Simplified Voronoi Diagrams for Motion Planning of Quadratically-Solvable Gough--Stewart Platforms; Rubèn Vaca, Joan Aranda and Federico Thomas. - Dynamic Capabilities of a Parallel Robot Based Routing Machine; J. Corral, Ch. Pinto, F. J. Campa and O. Altuzarra. - Kinematic Synthesis of Multi-Fingered Robotic Hands for Finite and Infinitesimal Tasks; E. Simo-Serra, A. Perez-Gracia, H. Moon and N. Robson. - Inverse Kinematics Solver for Android Faces with Elastic Skin; Emarc Magtanong, Akihiko Yamaguchi, Kentaro Takemura, Jun Takamatsu and Tsukasa Ogasawara. - Decomposing Envelopes of Rational Hypersurfaces; Tino Schulz and Bert J ttler. - Influence of Pulley Kinematics on Cable-Driven Parallel Robots 197; Andreas Pott. - Fast Approximate Implicitization of Envelope Curves Using Chebyshev Polynomials; Oliver J. D. Barrowclough, Bert J? ttler and Tino Schulz. - Kinematics of an Overconstrained 6R Linkage with 2-Fold Rotational Symmetry; Ketao Zhang and Jian S. Dai. - Construction of Overconstrained Linkages by Factorization of Rational Motions; Gábor Heged? s, Josef Schicho and Hans-Peter Schröcker. - Bond Theory and Closed 5R Linkages; Gábor Heged? s, Josef Schicho and Hans-Peter Schröcker. - Design and Control of a Redundant Suspended Cable-Driven Parallel Robot; Johann Lamaury, Marc Gouttefarde, Micaël Michelin and Olivier Tempier. - Planning Singularity-Free Force-Feasible Paths on the Stewart Platform; Oriol Bohigas, Montserrat Manubens and Lluìs Ros. - Orientation Capability of 3-RPSR Parallel Mechanism for Movable-Die Drive Mechanism of Pipe Bender; Yukio Takeda, Satoshi Inada, Daisuke Matsuura, Kazuya Hirose and Ken Ichiryu. - Investigation of a Cable-Driven Parallel Mechanism for Interaction with a Variety of Surfaces, Applied to the Cleaning of Free-Form Buildings; K. H. J. Vos, V. van der Wijk and J. L. Herder. - Auto CalibrationMethod for Cable-Driven Parallel Robots Using Force Sensors; Philipp Miermeister and Andreas Pott. -Protein Folding Pathways Implementing Dihedral Angle Variable Speed; Mikel Diez, Victor Petuya, Monica Urizar and Alfonso Hernandez. - Sufficient Conditions for the Mobility of Overconstrained Mechanisms; René Bartkowiak and Christoph Woernle. - Some Rigid-Body Constraint Varieties Generated by Linkages; J. M. Selig. - Constraint-Consistent Analysis of Muscle Force Contributions to Human Gait; Emel Demircan and Oussama Khatib. - Inherently Balanced 4R Four-Bar Based Linkages; V. van der Wijk and J. L. Herder. - Integrated Type and Dimensional Synthesis of Planar Four-Bar Mechanisms; Tim J. Luu and M. John D. Hayes. - Positional Workspace Boundary for Serial Manipulators with Revolute Joints; Ciprian S. Borcea and Ileana Streinu. - Kinematics Analysis of a Parallel Surgical Robot; A. Szilaghyi, A. Stoica, D. Pisla, C. Vaida and N. Plitea. - Constraint Singularity-Free Design of the IRSBot-2; Coralie Germain, Sebastien Briot, Stèphane Caro and Philippe Wenger. - Human Muscle Fatigue Model in Dynamic Motions; Ruina Ma, Damien Chablat, Fouad Bennis and Liang Ma. - Solution Regions in the Parameter Space of a 3-RRR Decoupled Robot for a Prescribed Workspace; D. Chablat, G. Moroz, V. Arakelian, S. Briot and P. Wenger. - Inverse Geometrico-Static Analysis of Under-Constrained Cable-Driven Parallel Robots with Four Cables; Marco Carricato, Ghasem Abbasnejad and Dominic Walter. - The Kinematotropic 3-CPU Parallel Robot: Analysis of Mobility and Reconfigurability Aspects; Luca Carbonari and Massimo Callegari. - A Planar Compliant Mechanism with RRP Mobilities Based on the Singularity Analysis of a 3-US Parallel Mechanism; Lennart Rubbert, Stèphane Caro, Pierre Renaud and Jacques Gangloff. - Velocity Level Kinematic Analysis of Serial $n$A-Chains; James D. Robinson and M. John D. Hayes. - Singular Manifold of the General Hexagonal Stewart Platform Manipulator; Viswanath Shanker and SandipanBandyopadhyay. - Trajectory Planning for Systems with Homotopy Class Constraints; Soonkyum Kim, Koushil Sreenath, Subhrajit Bhattacharya and Vijay Kumar. - Dynamics of the Upper Limb with a Detailed Model for the Shoulder; Jorge Ambrosio, Carlos Quental, João Folgado and Jacinto Monteiro. - Inverse Kinematics for the Control of Hyper-Redundant Binary Mechanisms with Application to Solar Concentrator Mirrors; Amy M. Bilton and Steven Dubowsky. - Mobile Robot Motion Primitives That Take into Account the Cost of Control; Sohee Lee and Frank Chongwoo Park. - Synthesis of Spatial CC Dyads and 4C Mechanism for Pick & Place Tasks with Guiding Locations; P. Larochelle. - On the Role of Passive Structures in the Knee Loaded Motion; Nicola Sancisi and Vincenzo Parenti-Castelli. - Name Index. - Subject Index.