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（二） Details and a list of published papers and theses on the several aspects of design, operation, and experimental valida-tion of those robotic systems are available at the LARM Web
page (http://webuser.unicas. it/weblarm/larmindex.htm).
However, the following basic concepts should be stressed.The ElectroPneumatic Walking Robot (EP-WaR) of Figure6(a) was designed since 1995, with a pantograph as the basic leg mechanism, but double parallelograms have been added so that a foot can keep a horizontal posture to facilitate con-tact with the terrain and operation of the suction cups. Suc-tion cups that are located beneath the foot operate to grasp the terrain and avoid complex control for dynamic stability, because it can be assumed that such biped robots usually work in a structured environment with a flat floor. The actuation system has been designed with pneumatic pistons whose operation is programmed and regulated via a standard programmable logic controller (PLC) once the sequence of walking actions has been suitably analyzed. The PLC has also been used to receive signals from additional suitable sen-sors that can give an autonomous operation of EP-WaR from a starting point to a prescribed target position.
The test-bed, two-finger gripper of Figure 6(b) has been designed mainly to investigate and let students prac-tice on the mechanics of grasp with two fingers and the efficiency of two-finger grippers in terms of mechanical design and force control of grasping. In addition, this two-finger gripper has even been used for practical purposes in verifying the feasibility of two-finger grippers in innovative
applications, for example, in robotic harvesting of horticul-ture products. The two-finger gripper of Figure 6(b) has been designed by using basic mechanisms as a parallelo-gram linkage and a slider-crank mechanism with electro-pneumatic actuation that has permitted one to sensorize and control the grasping force by means of commercial equipment and sensors.
page (http://webuser.unicas. it/weblarm/larmindex.htm).
However, the following basic concepts should be stressed.The ElectroPneumatic Walking Robot (EP-WaR) of Figure6(a) was designed since 1995, with a pantograph as the basic leg mechanism, but double parallelograms have been added so that a foot can keep a horizontal posture to facilitate con-tact with the terrain and operation of the suction cups. Suc-tion cups that are located beneath the foot operate to grasp the terrain and avoid complex control for dynamic stability, because it can be assumed that such biped robots usually work in a structured environment with a flat floor. The actuation system has been designed with pneumatic pistons whose operation is programmed and regulated via a standard programmable logic controller (PLC) once the sequence of walking actions has been suitably analyzed. The PLC has also been used to receive signals from additional suitable sen-sors that can give an autonomous operation of EP-WaR from a starting point to a prescribed target position.
The test-bed, two-finger gripper of Figure 6(b) has been designed mainly to investigate and let students prac-tice on the mechanics of grasp with two fingers and the efficiency of two-finger grippers in terms of mechanical design and force control of grasping. In addition, this two-finger gripper has even been used for practical purposes in verifying the feasibility of two-finger grippers in innovative
applications, for example, in robotic harvesting of horticul-ture products. The two-finger gripper of Figure 6(b) has been designed by using basic mechanisms as a parallelo-gram linkage and a slider-crank mechanism with electro-pneumatic actuation that has permitted one to sensorize and control the grasping force by means of commercial equipment and sensors.
细节和被发表的论文和论文名单在设计、操作, 和那些机器人系统的实验性检验的几个方面是可利用的在LARM 网页(http://webuser.unicas. it/weblarm/larmindex.htm) 。 但是, 以下基本概念应该是ElectroPneumatic 走的机器人的stressed.The (EP 战争) Figure6(a) 被设计自1995 年以来, 与放大尺作为基本的腿机制, 但双平行四边形增加了以便一只脚可能保留一个水平的姿势促进联络以吸杯子的地形和操作。位于在脚之下的吸杯子经营掌握地形和避免复杂控制为动态稳定, 因为它可能假设, 这样biped 机器人通常运作在一个被构造的环境里与一个平的地板。驱动系统被设计了与操作被编程并且调控通过一位标准可编程序的逻辑控制器的气动力学的活塞(PLC) 走的行动序列适当地一次被分析了。PLC 并且被使用接受信号从可能给EP 战争自治操作从一个起点一个被规定的目标位置的另外的适当的传感器。试验床, 二手指抓爪图6(b) 主要被设计调查和让学生实践在掌握与二个手指和二手指抓爪效率的技工根据机械设计和力量控制掌握。另外, 这个二手指抓爪甚而被使用了为实用目的在核实二手指抓爪的可行性在创新应用, 例如, 在机器人收获园艺产品。二手指抓爪图6(b) 由使用设计了基本的机制作为平行四边形联结并且滑子曲柄机制以允许了一的electro-pneumatic 驱动sensorize 和控制掌握的力量通过商业设备和传感器。