ARK home
ARK books


Sunday, June 26, 2016


19:00-21:00 Welcome Reception

Monday, June 27, 2016

8:45: Welcome address, 9:00-12:00: Technical session, 12:00-13:30, Lunch of the Scientific Committee, 13:30-17:00: Technical session, 17:00-18:00: Meeting of Technical Committees on Computational Kinematics, 18:00-23:00: Euro 2016 on TV

Tuesday, June 28, 2016

8:45-14:30: meeting at 8:30, departure for Lerins Islands, lunch, sightseeing, 16:00-18:20: technical sessions

Wednesday, June 29, 2016

9:20-12:00, 13:30-17:00: Technical sessions, 18:00-19:30: volley tournament

Thursday, June 30, 2016

9:00-12:00: technical sessions, 12:30: Farewell


Monday, June 27

9:00-10:20 Mechanism and kinematics 1
Session chair: Juan Carretero
1- Mass Equivalent Pantographs for Synthesis of Balanced Focal Mechanisms, Volkert van der Wijk,
2- Compliant Serial 3R Chain with Spherical Flexures, Farid Parvari Rad , Rocco Vertechy, Giovanni Berselli, V Parenti Castelli
3- Combining Tube Design and Simple Kinematic Strategy for Follow-the-Leader Deployment of Concentric-Tube Robots, Cédric Girerd, Kanty Rabenorosoa, and Pierre Renaud
4- A screw based dynamic balancing approach, applied to a 5-bar mechanism, Jan de Jong, Johannes van Dijk, and Just Herder

10:20-10:40 Coffee break

10:40-12:00 Mechanism and kinematics 2
Session chair: Nicolas Andreff
1- A Novel S-C-U Dual Four-Bar Linkage, Pierre Larochelle and Sida Du
2- Inverse kinematics analysis of a P2CuP2Cu concentric tube robot with embedded micro-actuation for 3T-1R tasks, Mohamed Taha Chikhaoui, Kanty Rabenorosoa, and Nicolas Andreff
3- Structural Synthesis of Hands for Grasping and Manipulation Tasks, Ali Tamimi, Alba Perez-Gracia, and Martin Pucheta
4- Generalized Construction of Bundle-Folding Linkages, Shengnan Lu, Dimiter Zlatanov, Matteo Zoppi, and Xilun Ding

13:40-15:00 Parallel robots 1
Session chair: Federico Thomas
1- A complete analysis of the singularities of a parallel medical robot, Josef Schadlbauer , Calin Vaida, Paul Tucan, Doina Pisla , Manfred Husty
2- Workspace Analysis of a 3-PSP motion platform, Luc Baron
3- Posture Optimization of a Functionally Redundant Parallel Robot, David Corinaldi, Jorge Angeles and Massimo Callegari
4- Accounting for tolerances in the design parameters of the 3-RRR, Joshua K. Pickard, Juan A. Carretero, and Jean-Pierre Merlet

15:00-15:20 Coffee break

15:20-17:00 Parallel robots 2
Session chair: Manfred Husty
1- A study on simplified dynamic modeling approaches of Delta parallel robots, Jan Brinker, Philipp Ingenlath, and Burkhard Corves
2- Hidden cusps, Michel Coste, Philippe Wenger and Damien Chablat
3- Some Mobile Overconstrained Parallel Mechanisms, J.M. Selig
4- On the line-symmetry of self-motions of linear pentapods, Georg Nawratil
5- On some notable singularities of 3-RPR and 3-RRR PPRMs, K. A. Arrouk, B. C. Bouzgarrou, and G. Gogu

Tuesday, June 28

16:00-16:40 Plenary talk
Benefits of Robotics to the Quality of Life: Promises Fulfilled and Those Yet to Be Achieved, Steven Dubowsky

16:40-18:20 Parallel robots 3
Session chair: Doina Pisla

1- Minimized-Torque-Oriented Design of Parallel Modular Mechanism for Humanoid Waist, Mouna Souissi, Vincent Hugel, Samir Garbaya, and John Nassour
2- Kinematic analysis of the Delthaptic, a new 6-DOF haptic device, Margot Vulliez, Said Zeghloul, and Oussama Khatib
3- A family of non-overconstrained 3-DoF reconfigurable parallel manipulators, M.C. Palpacelli, L. Carbonari, G. Palmieri, and M. Callegari
4- Dealing with redundancy of a multiple mobile coil magnetic manipulator: a 3RPR magnetic parallel kinematics manipulator, Baptiste Véron, Arnaud Hubert, Joel Abadie and Nicolas Andreff
5- A new generic approach for the inverse kinematics of cable-driven parallel robot with 6 deformable cables, J-P. Merlet

Wednesday, June 29

9:20-10:20 Kinematics 1
Session chair: Andrés Kecskeméthy
1- Rolling Contact in Kinematics of Multifingered Robotic Hands, Lei Cui and Jian S. Dai
2- Synergies Evaluation of the SCHUNK S5FH for Grasping Control, F. Ficuciello, A. Federico, V. Lippiello, and B. Siciliano
3- Velocity Fields and Tangent Bundles for In-Hand Manipulative Synthesis, Neda Hassanzadeh, Shramana Ghosh, Nina Robson, Alba Perez-Gracia

10:20-10:40 Coffee break

10:40-12:00 Kinematics 2
Session chair: Alba Perez-Gracia

1- Synthesis of Linkages to Trace Plane Curves, Yang Liu and J. Michael McCarthy
2- Subject-specific model of knee natural motion:a non-invasive approach, Michele Conconi, Nicola Sancisi and Vincenzo Parenti Castelli
3- An Approach for Bone Pose Estimation via Three External Ellipsoid Pressure Points, Nikolas Bufe, Ansgar Heinemann, Peter Köhler, Andrés Kecskeméthy
4- Robot Dynamics Constraint for Inverse Kinematics, Mingo Hoffman Enrico, Rocchi Alessio, Nikos G. Tsagarakis, and Darwin G.

13:40-15:00 Kinematics 3
Session chair: Philippe Wenger
1- Path Planning in Kinematic Image Space Without the Study Condition, Martin Pfurner, Hans-Peter Schröcker, and Manfred Husty
2- The 2D Orientation Interpolation Problem: A Symmetric Space Approach, Yuanqing Wu, Andreas Müller, and Marco Carricato
3- Closure Polynomials for Strips of Tetrahedra Federico Thomas and Josep M. Porta
4- Robust Design of Parameters Identification, Aurélien Massein and David Daney and Yves Papegay

15:00-15:20 Coffee break

15:20-17:00 Cable-driven parallel robots
Session chair: Vincenzo Parenti-Castelli

1-Isotropic Design of the Spherical Wrist of a Cable-Driven Parallel Robot, Angelos Platis, Tahir Rasheed, Philippe Cardou, and Stéphane Caro
2- Dynamic recovery of cable-suspended parallel robots after a cable failure, Alessandro Berti, Marc Gouttefarde, and Marco Carricato
3- Workspace and interference analysis of cable-driven parallel robots with an unlimited rotation axis, Andreas Pott and Philipp Miermeister
4- Elasto-static model for point mass sagged cable-suspended robots, Erika Ottaviano, Vincenzo Gattulli, Francesco Potenza
5- Determination of a Dynamic Feasible Workspace for Cable-Driven Parallel Robots, L. Gagliardini, M. Gouttefarde, and S. Caro

Thursday , June 30

9:00-10:20 Control and singularities
Session chair: Erika Ottaviano

1- Adaptive Human Robot Cooperation Scheme for Bimanual Robots, Bojan Nemec, Nejc Likar, Andrej Gams, and Ale Ude
2- Influence of the wind load in the trolley-payload system with a flexible hoist rope, Jianjie Zhang and Gabriel Abba
3- Towards a Unified Notion of Kinematic Singularities for Robot Arms and Non-Holonomic Platforms, Andreas Müuller and Peter Donelan
4- Kinematic Singularities of Mobile Manipulators: An Analytic Approach, Krzysztof Tchón and Hanna Sienkiewicz

10:20-10:40 Coffee break

10:40-12:00 Singularities
Session chair: Jon Selig

1- A Taylor-based continuation method for the determination and classification of robot singularities, Gauthier Hentz, Isabelle Charpentier, Lennart Rubbert and Pierre Renaud
2- Identifying singularity-free spheres in the workspace of semi-regular Stewart platform manipulators, Anirban Nag, Vikranth Reddy, Saurav Agarwal, Sandipan Bandyopadhyay
3- Geometric Algebra Based Kinematics Model and Singularity of a Hybrid Surgical Robot, Tanio K. Tanev
4- Kinematic Singularities of a 3-DoF Planar Geared Robot Manipulator, S.Vahid Amirinezhad and Peter Donelan