**Meet the editor**

Dr. Ashish Dutta obtained his PhD in Systems Engineering from Akita University, Japan. From 1994 to 2000 he was with the Bhabha Atomic Research Center (India) where he worked on telemanipulator design and control for nuclear applications. Since 2002 he has been working with the department of mechanical engineering in the Indian Institute of Technology Kanpur, in addition to

working as an assistant professor in Nagoya University, Japan from 2006 to 2007 in the department of Mechanical Science and Engineering. His research interests are in the areas of humanoid robotics, micro sensors and actuators, intelligent control systems and rehabilitation engineering.

Contents

**Preface IX** 

Chapter 1 **Modular Robotic Approach in Surgical Applications – Wireless Robotic Modules and a Reconfigurable Master Device for Endoluminal Surgery – 3**  Kanako Harada, Ekawahyu Susilo, Takao Watanabe,

Chapter 2 **Target Point Manipulation Inside a Deformable Object 19** 

**Using Computational Intelligence Methods 61** 

Kazuya Kawamura, Masakatsu G. Fujie, Arianna Menciassi and Paolo Dario

Jadav Das and Nilanjan Sarkar

Chapter 3 **Novel Assistive Robot for Self-Feeding 43**  Won-Kyung Song and Jongbae Kim

Chapter 4 **Robot Handling Fabrics Towards Sewing** 

Chapter 5 **Robotic Systems for Radiation Therapy 85** 

Ivan Buzurovic, Tarun K. Podder and Yan Yu

Chapter 7 **Reconfigurable Automation of Carton Packaging with Robotic Technology 125** 

Chapter 8 **Autonomous Anthropomorphic Robotic System with Low-Cost Colour Sensors** 

> Gourab Sen Gupta, Mark Seelye, John Seelye and Donald Bailey

**State of the Art and Future Perspectives 107**  Rachid Yakoubi, Shahab Hillyer and Georges-Pascal Haber

**to Monitor Plant Growth in a Laboratory 139** 

Zacharia Paraskevi

Chapter 6 **Robotic Urological Surgery:** 

Wei Yao and Jian S. Dai

**Part 1 Applications 1** 

## Contents

## **Preface XIII**

### **Part 1 Applications 1**


## **Part 2 Control and Modeling 159**  Chapter 9 **CPG Implementations for Robot Locomotion: Analysis and Design 161**  Jose Hugo Barron-Zambrano and Cesar Torres-Huitzil Chapter 10 **Tracking Control in an Upper Arm Exoskeleton with Differential Flatness 183**  E. Y. Veslin, M. Dutra, J. Slama, O. Lengerke and M. J. M. Tavera Chapter 11 **Real-Time Control in Robotic Systems 209**  Alex Simpkins Chapter 12 **Robot Learning from Demonstration Using Predictive Sequence Learning 235**  Erik Billing, Thomas Hellström and Lars-Erik Janlert Chapter 13 **Biarticular Actuation of Robotic Systems 251**  Jan Babič Chapter 14 **Optimization and Synthesis of a Robot Fish Motion 271**  Janis Viba, Semjons Cifanskis and Vladimirs Jakushevich Chapter 15 **Modeling of Elastic Robot Joints with Nonlinear Damping and Hysteresis 293**  Michael Ruderman Chapter 16 **Gravity-Independent Locomotion: Dynamics and Position-Based Control of Robots on Asteroid Surfaces 313**  Marco Chacin and Edward Tunstel Chapter 17 **Kinematic and Inverse Dynamic Analysis of a C5 Joint Parallel Robot 339**  Georges Fried, Karim Djouani and Amir Fijany Chapter 18 **Utilizing the Functional Work Space Evaluation Tool for Assessing a System Design and Reconfiguration Alternatives 361**  A. Djuric and R. J. Urbanic Chapter 19 **Requirement Oriented Reconfiguration of Parallel Robotic Systems 387**  Jan Schmitt, David Inkermann, Carsten Stechert, Annika Raatz and Thomas Vietor **Part 3 Vision and Sensors 411**

Contents VII

Chapter 21 **Robotics Arm Visual Servo: Estimation of Arm-Space** 

Chapter 22 **Design and Construction of an Ultrasonic Sensor** 

and Jaime Alberto Guzmán Luna

Chapter 23 **Robotic Software Systems: From Code-Driven** 

Chapter 24 **Using Ontologies for Configuring Architectures** 

Chapter 25 **Programming of Intelligent Service Robots** 

Christian Martens and Axel Gräser

**Robotic Manipulators 553** 

Chapter 27 **An Approach to Distributed**

Matthias Burwinkel and Bernd Scholz-Reiter

**with the Process Model "FRIEND::Process" and Configurable Task-Knowledge 529**  Oliver Prenzel, Uwe Lange, Henning Kampe,

Chapter 26 **Performance Evaluation of Fault-Tolerant Controllers in** 

**Component-Based Software for Robotics 571** 

**the Collision-Free Trajectory Planning Problem for** 

A. C. Domínguez-Brito, J. Cabrera-Gámez, J. D. Hernández-Sosa,

**Industrial Robots – Impact of Interpolation Functions and the Characteristics of the Actuators on Robot Performance 591** 

Claudio Urrea, John Kern and Holman Ortiz

J. Isern-González and E. Fernández-Perdomo

Chapter 28 **Sequential and Simultaneous Algorithms to Solve** 

Francisco J. Rubio, Francisco J. Valero, Antonio J. Besa and Ana M. Pedrosa

**Based on Characteristic Patterns 611** Eva Volná, Michal Janošek, Václav Kocian, Martin Kotyrba and Zuzana Oplatková

Chapter 29 **Methodology for System Adaptation** 

**to Model-Driven Software Development 473** Christian Schlegel, Andreas Steck and Alex Lotz

**of Industrial Robotics in Logistic Processes 503** 

**Part 4 Programming and Algorithms 471** 

Ebrahim Mattar

**Kinematics Relations with Epipolar Geometry 429**

**for the Material Identification in Robotic Agents 455** Juan José González España, Jovani Alberto Jiménez Builes

Chapter 20 **Real-Time Robotic Hand Control Using Hand Gestures 413**  Jagdish Lal Raheja, Radhey Shyam, G. Arun Rajsekhar and P. Bhanu Prasad

Chapter 21 **Robotics Arm Visual Servo: Estimation of Arm-Space Kinematics Relations with Epipolar Geometry 429**  Ebrahim Mattar

Chapter 22 **Design and Construction of an Ultrasonic Sensor for the Material Identification in Robotic Agents 455**  Juan José González España, Jovani Alberto Jiménez Builes and Jaime Alberto Guzmán Luna

**Part 4 Programming and Algorithms 471** 

VI Contents

**Part 2 Control and Modeling 159** 

Alex Simpkins

Jan Babič

Chapter 9 **CPG Implementations for Robot Locomotion: Analysis and Design 161** 

Chapter 10 **Tracking Control in an Upper Arm Exoskeleton with Differential Flatness 183**

Chapter 11 **Real-Time Control in Robotic Systems 209** 

Chapter 13 **Biarticular Actuation of Robotic Systems 251**

**Using Predictive Sequence Learning 235** Erik Billing, Thomas Hellström and Lars-Erik Janlert

Chapter 14 **Optimization and Synthesis of a Robot Fish Motion 271**  Janis Viba, Semjons Cifanskis and Vladimirs Jakushevich

**Nonlinear Damping and Hysteresis 293**

Georges Fried, Karim Djouani and Amir Fijany

Chapter 18 **Utilizing the Functional Work Space Evaluation Tool** 

**and Reconfiguration Alternatives 361**

Jan Schmitt, David Inkermann, Carsten Stechert,

Chapter 20 **Real-Time Robotic Hand Control Using Hand Gestures 413** 

Chapter 16 **Gravity-Independent Locomotion: Dynamics and**

Marco Chacin and Edward Tunstel

Chapter 17 **Kinematic and Inverse Dynamic Analysis of a C5 Joint Parallel Robot 339** 

**for Assessing a System Design** 

A. Djuric and R. J. Urbanic

**Part 3 Vision and Sensors 411** 

Chapter 19 **Requirement Oriented Reconfiguration of Parallel Robotic Systems 387** 

Annika Raatz and Thomas Vietor

Jagdish Lal Raheja, Radhey Shyam, G. Arun Rajsekhar and P. Bhanu Prasad

Chapter 12 **Robot Learning from Demonstration** 

Chapter 15 **Modeling of Elastic Robot Joints with** 

Michael Ruderman

Jose Hugo Barron-Zambrano and Cesar Torres-Huitzil

E. Y. Veslin, M. Dutra, J. Slama, O. Lengerke and M. J. M. Tavera

**Position-Based Control of Robots on Asteroid Surfaces 313** 


Preface

Over the last few decades the focus of robotics research has moved beyond the traditional area of industrial applications to newer areas, including healthcare and domestic applications. These newer applications have given a strong impetus to the development of advanced sensors, control strategies and algorithms. The first section of this book contains advanced applications of robotics in surgery, rehabilitation, modular robotics among others. This is followed by sections on control and sensors,

I would like to thank all the authors for entrusting us with their work and specially the

**Dr. Ashish Dutta**

India

Department of Mechanical Engineering Indian Institute of Technology, Kanpur

while the fourth section is devoted to robot algorithms.

editorial members of InTech publishing.

## Preface

Over the last few decades the focus of robotics research has moved beyond the traditional area of industrial applications to newer areas, including healthcare and domestic applications. These newer applications have given a strong impetus to the development of advanced sensors, control strategies and algorithms. The first section of this book contains advanced applications of robotics in surgery, rehabilitation, modular robotics among others. This is followed by sections on control and sensors, while the fourth section is devoted to robot algorithms.

I would like to thank all the authors for entrusting us with their work and specially the editorial members of InTech publishing.

> **Dr. Ashish Dutta** Department of Mechanical Engineering Indian Institute of Technology, Kanpur India

**Part 1** 

**Applications**
