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Robotics and Mechatronics; 1 Path Planning for Underwater Gliders with Motion Constraints; Abstract; 1 Introduction; 2 Underwater Glider Path Planning; 2.1 Underwater Glider Modeling; 2.2 Underwater Glider Motion Constraints; 2.3 Artificial Potential Fields; 3 Numerical Simulation; 4 Conclusions; Acknowledgments; References; 2 A Novel Method for the Motion Planning of Hyper-redundant Manipulators Based on Monte Carlo; Abstract; 1 Introduction; 2 Description of Hyper-redundant Manipulator; 2.1 Kinematic of Hyper-redundant Manipulator; 2.2 Manipulator Workspace Determination.
3 Monte Carlo Method to Search Random Configurations3.1 Algorithmic Procedure of Monte Carlo; 3.2 Simulation Experiment; 4 Improvement on Monte Carlo Method; 5 Experimental Results; 6 Conclusion; References; 3 Gait and Trajectory Rolling Planning for Hexapod Robot in Complex Environment; Abstract; 1 Introduction; 2 PH-Robot; 3 Stability Control Architecture; 4 Gait and Trajectory Planning; 4.1 Gait Planning; 4.2 Trajectory Planning; 5 Experiments with the PH-Robot; 6 Conclusion; Acknowledgments; References.
4 Real-Time Trajectory Plan for Six-Legged Robots to Open Doors Based on Tactile FeedbackAbstract; 1 Introduction; 2 System Overview; 3 Door-Opening Approach and Trajectory Plan; 3.1 Locate the Door Plane; 3.2 Rotate to Align; 3.3 Locate the Handle; 3.4 Open the Door; 3.5 Walk Through; 4 Experiments and Results; 5 Conclusions; Acknowledgments; References; 5 Optimized Body Position Adjustment of a Six-Legged Robot Walking on Inclined Plane; Abstract; 1 Introduction; 1.1 Problem Statement; 1.2 State of the Art; 1.3 Robot Overview; 2 Planning Strategy; 2.1 Inclined Plane and Body Orientation.
2.2 Leg Workspace Approximation2.3 Convex Optimization Problem Formulation; 3 Results and Discussion; Acknowledgments; References; 6 Evaluation of Spring Stiffness for Stable Grasp in Underactuated Fingers; Abstract; 1 Introduction; 2 Statics Analysis of the Underactuated Fingers; 3 Bifurcations Between Grasps of Different Topology; 3.1 The Range of Object Sizes Under Various Grasp Types; 3.2 The Transition of Various Grasp Types; 4 Relationship Between Spring Stiffness and Stable Region Based on Grasp-State Plane; 5 Conclusions; Acknowledgments; References.
7 Kinematic Analysis of a Novel Hybrid HandAbstract; 1 Introduction; 2 Kinematic Analysis of the Proposed Hand; 2.1 Geometry of the Hand; 2.2 Mobility Analysis; 2.3 Forward Kinematics; 2.3.1 Formulation of the Loop-Closure Equations; 2.3.2 Solutions of the Loop-Closure Equations; 2.4 Inverse Kinematics; 2.4.1 Subproblem of the Four-Bar Mechanism; 2.4.2 Subproblem of the Five-Bar Mechanism; 2.4.3 The Subproblem of RSSR Loop; 3 Numerical Examples; 3.1 Results of Forward Kinematics; 3.2 Results of Inverse Kinematics; 4 Conclusions; References.
3 Monte Carlo Method to Search Random Configurations3.1 Algorithmic Procedure of Monte Carlo; 3.2 Simulation Experiment; 4 Improvement on Monte Carlo Method; 5 Experimental Results; 6 Conclusion; References; 3 Gait and Trajectory Rolling Planning for Hexapod Robot in Complex Environment; Abstract; 1 Introduction; 2 PH-Robot; 3 Stability Control Architecture; 4 Gait and Trajectory Planning; 4.1 Gait Planning; 4.2 Trajectory Planning; 5 Experiments with the PH-Robot; 6 Conclusion; Acknowledgments; References.
4 Real-Time Trajectory Plan for Six-Legged Robots to Open Doors Based on Tactile FeedbackAbstract; 1 Introduction; 2 System Overview; 3 Door-Opening Approach and Trajectory Plan; 3.1 Locate the Door Plane; 3.2 Rotate to Align; 3.3 Locate the Handle; 3.4 Open the Door; 3.5 Walk Through; 4 Experiments and Results; 5 Conclusions; Acknowledgments; References; 5 Optimized Body Position Adjustment of a Six-Legged Robot Walking on Inclined Plane; Abstract; 1 Introduction; 1.1 Problem Statement; 1.2 State of the Art; 1.3 Robot Overview; 2 Planning Strategy; 2.1 Inclined Plane and Body Orientation.
2.2 Leg Workspace Approximation2.3 Convex Optimization Problem Formulation; 3 Results and Discussion; Acknowledgments; References; 6 Evaluation of Spring Stiffness for Stable Grasp in Underactuated Fingers; Abstract; 1 Introduction; 2 Statics Analysis of the Underactuated Fingers; 3 Bifurcations Between Grasps of Different Topology; 3.1 The Range of Object Sizes Under Various Grasp Types; 3.2 The Transition of Various Grasp Types; 4 Relationship Between Spring Stiffness and Stable Region Based on Grasp-State Plane; 5 Conclusions; Acknowledgments; References.
7 Kinematic Analysis of a Novel Hybrid HandAbstract; 1 Introduction; 2 Kinematic Analysis of the Proposed Hand; 2.1 Geometry of the Hand; 2.2 Mobility Analysis; 2.3 Forward Kinematics; 2.3.1 Formulation of the Loop-Closure Equations; 2.3.2 Solutions of the Loop-Closure Equations; 2.4 Inverse Kinematics; 2.4.1 Subproblem of the Four-Bar Mechanism; 2.4.2 Subproblem of the Five-Bar Mechanism; 2.4.3 The Subproblem of RSSR Loop; 3 Numerical Examples; 3.1 Results of Forward Kinematics; 3.2 Results of Inverse Kinematics; 4 Conclusions; References.