Abstract: 1 Opening Session / Jean Vertut Memorial Session, Eulogy -- Advanced Teleoperation. Introductory Paper. The Advanced Teleoperation Project -- Advanced Teleoperation (I). Control and Supervision in Computer Aided Teleoperation -- Advanced Teleoperation (II). The Generalized Information Feedback Concept in Computer-Aided Teleoperation -- Advanced Teleoperation (III). An Integrated Experiment -- Analysis of a Robot Wrist Device for Mechanical Decoupling of the End-Effector Position and Orientation -- 2 Mechanics 1 -- Robot Motion: Configuration Analysis of Redundant and Non Redundant Manipulators -- Analysis of the Positioning and Orientation Accuracy in 6R Manipulators (Direct Task) -- A Unified Approach to Modelling of Flexible Robot Arms -- Solving the Inverse Kinematic Problem for Robotic Manipulators -- Determination of the Accuracy of Flexible Automatic Positioning Module with Clearances -- Invariant Kinestatic Filtering -- 3 Mechanics 2 -- Redundant Manipulators and Kinematic Singularities The Operational Space Approach -- Modelling and Simulation of Mechanical Process in Hyperstatical Gripping with n-Contact Points -- Computer Aided Modelling of Pneumo-Hydraulic Robots -- A Cartesian Model of Manipulator Kinematics -- A Method for Solving the Inverse Problem of Kinematics of Anthropomorphic Manipulators with Spherical Wrist -- Dynamic Equations of General Robots by Kane’s Method -- The Role of Delay in Robot Dynamics -- 4 Synthesis and Design 1 -- Smart Hand Systems for Robotics and Teleoperation -- A Mathematical Model of a Flexible Manipulator of the Elephant’s-Trunk-Type -- Analytical Design of Two-Revolute Open Chains -- On a Fundamental Study of Micro Mechanical Gripper Using Shape Memory Alloy (SMA) Actuator -- The Kinematic Design and Mass Redistribution of Manipulator Arms for Decoupled and Invariant Inertia -- Graphical-Interactive System for CAD and Simulation of Manipulation Systems -- 5 Sensing and Machine Intelligence 1 -- Force Feedback in Telemanipulators -- Theoretical and Experimental Investigations of Optical Fibre Reflective Sensors for Robotics -- Task Specification and Closed Loop Control of Manipulators in the Presence of External Sensors -- Adaptive Force Control of Grippers Taking into Account the Dynamics of Objects -- Bilateral Remote Control with Dynamic Reflexion -- 6 Control of Motion 1 -- Finger-Arm Coordination Control Method for Multiple Degrees of Freedom Robot -- A Model-Based Expert System for Strategical Control Level of Manipulation Robots -- Robot-Task Adaptability by Semi-Local Correction without Contact -- Robot Control Synthesis in Conjunction with Moving Workpieces -- Dynamic Command Motion Tuning for Robots. A Self Learning Algorithm -- 7 Sensing and Machine Intelligence 2 -- C-Surface Theory Applied to Force-Feedback Control of Robots -- Experimental Investigation of Active Force Control of Robot and Manipulator Arms -- Automatic Grasp Planning. An Operation Space Approach -- A Method of Optical Processing in the Robot Vision -- Tridimensional Optical Syntaxer -- 8 Locomotion and Walking Machines -- Towards Generalized Concepts and Tools for Unconventional Mobile Robots. General Languages, Mobility Modes -- Mobile Robotic Systems for Use in Unstructured Terrain -- Wall Climbing Vehicle Using Internally Balanced Magnetic Unit -- Experimental Development of a Walking Transport Robot -- Legs that Deform Elastically -- Features of Mechanisms Synthesis of Walking Robot Propelling Agents -- Avoiding Obstacles by a Mobile Robotized Vehicle -- 9 Application and Performance Evaluation -- The Automation of the Mine Support Erection Technology with Remotely-Controlled Manipulators -- Experimental Investigations of Robots and Manipulators -- Minimization of Vibrations of a Gantry Manipulator During Positioning -- Experimental Evaluation of Feedforward and Computed Torque Control -- Experimental Research and Development of Methods for Improving Kinematic and Dynamic Robot Characteristics -- 10 Synthesis and Design 2 -- Kinematics and Torque Control of Multi-Fingered Articulated Robot Hand -- Progress towards a Robotic Aid for the severely Disabled -- Logical Structures for Collision Avoidance in Assembly with Robots -- Repositioning-Unit for very Fine and Accurate Displacements Analysis and Design -- 11 Synthesis and Design 3 -- Polyarticulated Mechanical Structure for Decoupling the Position and Orientation of a Robot -- Application of I-Coordinates in Robotics -- Design of Spring Mechanisms for Balancing the Weight of Robots -- Structural and Geometrical Systematization of Spatial Positioning Kinematic Chains Employed in Industrial Robots -- Tasks and Methods of Constructing Mechanical Facilities and Control Systems of Industrial Robots Taking into Account their Force Interaction with the Equipment -- 12 Control of Motion 2 -- Contribution to Solving Dynamic Robot Control in Machining Process -- An Approach to Development of Real-Time Robot Models -- Time-Optimal Robotic Manipulator Task Planning -- Time-Optimal Motions of Some Robotic Systems -- Frequency Space Synthesis of a Robust Dynamic Command -- Structure Strategy Problem on a Redundant Manipulator -- Participants.

Abstract: Preface -- Editorial Note -- 1 Opening Lecture -- Biomechanical Aspects in Robotics -- 2 Mechanics -- Coordinate Transformations and Inverse kinematics for Industrial Robots -- Industrial Robots with Recuperation of Mechanical Energy -- On the Optimal Selection and Placement of Manipulators -- On the Geometry of Orthogonal and Reciprocal Screws -- Trajectory Planning for Redundant Manipulators in the Presence of Obstacles -- Implementation of Highly Efficient Analytical Robot Models on Microcomputers -- Computer-aided Generation of Multibody-system Equations -- Equations of Motion and Equations of Stress for Robots and Manipulators: An Application of the NEWEUL Formalism -- Modelling of Artificial Manipulators and Computer Simulation of their Dynamics -- Dynamics of Robots and Manipulators Involving Closed Loops -- 3 Control of Motion -- Non-adaptive Dynamic Control for Manipulation Robots: Invited Survey Paper -- Robot Motion Control in Multi-operation assembly -- Some Considerations on Feedback Strategy for Assembly Robots -- Optimal Dynamic Trajectories for Robotic Manipulators -- Approximative Models in Dynamic Control of Robotic Systems -- Keyboard Playing by an Anthropomorphic Robot: Fingers and Arm Model and its Control System of WAM-7R -- Control of Two Co-ordinated Robots by Using an Only-kinematic Model -- A Method for Time-optimal Control of Dynamically Constrained Manipulators -- Bracing Strategy for Robot Operation -- Robot Control and Computer Languages -- Robust Control for Industrial Robots -- Controlling a Six-degrees-of-freedom Welding Robot along a Randomly Oriented Seam with Reduced Sensor Information -- Principles and Algorithms for Industrial Robots Remote Automatic Control -- 4 Man-Intelligent Machine Systems -- Manual Control Communication in Space Teleoperation -- Sensory-based Control for Robots and Teleoperators -- Tele-existence (I): Design and Evaluation of a Visual Display with Sensation of Presence -- New Approach to Robotic Visual Processing -- Representing Three-dimensional Shape -- An Electropneumatic Actuation System for the Utah/MIT Dextrous Hand -- Sensor-aided and/or Computer-aided Bilateral Teleoperator System (SCATS) -- 5 Synthesis and Design -- Mechanical and Geometric Design of the Adaptive Suspension Vehicle -- Geometrical and Kinematical Qualitative Characteristics for Functional Capacities of Manipulation Systems -- Manipulation Devices Based on High-class Mechanisms -- Synthesis and Design of Mechanical Hands for Robots with Application of Computer-aided Design -- A New Design Method of Servo-actuators Based on the Shape Memory Effect -- Coverage Optimization of Articulated Manipulators -- 6 Biomechanics of Motion: Locomotion -- Study of Propelling Agents Construction Features of Orthogonal Walking Robots by Using Plane Mechanisms -- A Hierarchically Structured System for Computer Control of a Hexapod Walking Machine -- Realization of Plane Walking by the Biped Walking Robot WL-10R -- Hexapod Walking Robots with Artificial Intelligence Capabilities -- Legged Locomotion Machine Based on the Consideration of Degrees of Freedom -- Trotting and Bounding in a Planar Two-legged Model -- 7 Application and Performance Evaluation -- Determination of Important Design Parameters for Industrial Robots from the Application Point of View: Survey Paper -- Automatic Assembly by Reference Searching and Position Adjustment before Insertion -- Participants.

Abstract: The RO MAN SY Symposia have played an important role in the development of the theory and, to a lesser extent, the practice of manipulators, walking machines and robots. Based on past experience of previous symposia, which have been held over the last 10 years, the problem arose as to what to do in the future. In other words, in what direction should further symposia be organized? A panel discussion called 'Role of RO MAN SY Symposia' was held on 29 June 1984 during the final plenary session at CISM, Udine, Italy. The Members of the Organizing Committee, Professors Konstantinov, Morecki, Roth, Vukobratovic and Vertut, and other participants were asked to give their opinions on the follow­ ing important questions: • should we organize future symposia? if we continue, which form should we choose?: small (60-70 participants, • 35-40 invited papers); big (100-150 participants, 60-80 papers) • what kind of topics should be included?: the more theoretical-oriented; more practical-oriented; both (what proportion?) • how frequently should RO MAN SY Symposia be organized?: every other year; every third year is working well and what should be maintained? • what • what is not working well and what should be changed to increase the impact of the symposia? would like to underline that most of the participants agree that we should con­ tinue to hold our symposia every other year, but to limit their small form, with invited papers at high theoretical level only in mechanics, control of motion,.