Romansy 16 pp 421-428 | Cite as

Innovative methods of evaluation in space robotics and surgical robotics design

  • Alberto Rovetta
  • Elena Cristina Paul
  • Chiara Zocchi
Part of the CISM Courses and Lectures book series (CISM, volume 487)


This paper deals with innovative methods of parameters evaluation in projects related to a locomotion system for Mars. The motion subsystem configurations are developed at a detailed level compatible with the assessment of project feasibility and with the identification of required technological development. Also the analysis of rover performances in overcoming obstacles and of robot movement are here reported. The design and verification of the analytical models, needed for robot action planning and describing how the robot interacts with its environment, are essential for design evaluation. This paper starts from the descriptions of the robotic characteristics of the systems, after the evaluation of the other robotic systems up to now applied. Then two innovative methods are presented: the Preferential Compatibility and the Prospect of INdipendent Decisions ARea (Pindar) techniques.


Robotic Surgery Unexpected Event Innovative Method Decisional Table Computer Assist Surgery 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. Science, vol. 305 no 5685-6.8.2005,vol 306 no 5702-3.12.2005, vol. 306 no 5704-17.12.2005Google Scholar
  2. Rodney A., Brooks A, robust layered control system for a mobil robot. IEEE Journal of Robotics and Automation April 1986Google Scholar
  3. Ostergaard E., Mataric J and Gaurav S, Distributed multi-robot task allocation for emergency handling, 2001 IEEE/RSJ, IROSGoogle Scholar
  4. Schenker P.S., et al, Reconfigurable robots for all terrain exploration, Proc. of SPIE. November 2000Google Scholar
  5. Kucherenko, Bogatchev, Chassis Concepts for the ExoMares Rover ESA Workshop on Advanced Space Technology for Robotics and Automation ASTRA 2004 Estec, NorwijkGoogle Scholar
  6. Schulte, Hofmann, Naumann, A Sample Preparation and Handling System for ESA’s Pasteur Exobiology Paylod for Mars ESA Workshop on Advanced Space Technology for Robotics and Automation, ASTRA 2004 Estec, NorwijkGoogle Scholar
  7. Attila, Matti Concept study for the subsurface sampling system for the Pasteur paylod of the ExoMars Mission ESA Workshop on Advanced Space Technology for Robotics and Automation, ASTRA 2004 Estec, NorwijkGoogle Scholar
  8. Rovetta A., Cosmi F., Romano V. F., Kinematics and dynamics of single and multiple arm robotic system, a practical application, Robotics in Alpe Adria Region, June 21–23, 20–27, 1992Google Scholar
  9. Rovetta A., Robotica, Hoepli, 2005Google Scholar
  10. Rovetta A, FRIEND: space telerobot for rescue and recovery of astronauts in space stations, IEEE/ RSJ International Worksop on Intelligent Robots and Systems, IROS’91, 3–5 November, 1991Google Scholar
  11. Rovetta A., Romano V.F, Cosmi F., Nenchev D., Friend: an extra vehicular activity retriever telerobotic project, Space Technology, Vol.15, No.3, 1995, pp123–131CrossRefGoogle Scholar
  12. Ellery, A., An Introduction to Space Robotics, Springer, 2000Google Scholar
  13. Cosmi F., Rovetta A, Development of Dynamics for a Space Telerobot, Iros’ 93, Yokohama, July 1993Google Scholar
  14. L.P. Nolte, L.J. Zamarano, Z. Jiang, Q. Wang, F. Langlotz, E. Arm, H. Visarius, A Novel Approach to Computer Assisted Spine Surgery, Proceedings of the First International Symposium on Medical Robotics and Computer Assisted Surgery, vol. 2, pp. 323–328, 1994.Google Scholar
  15. N. Confalonieri, D. Saragaglia, F. Picard, P. Cerea, K. Motavalli, Computerised OrthoPilot system in arthroprosthesis surgery of the knee. J Orthopaed Traumatol (2000) 2:91–98CrossRefGoogle Scholar
  16. M. Shoam, M. Burman, E. Zehavi, L. Joskowicz, E. Batkilin, Y. Kunicher, Bone-Mounted Miniature Robot for Surgical Procedures: Concept and Clinical Applications IEEE Trans. Robotics Automation, vol. 19, October 2003.Google Scholar
  17. Shin, Yoon: Force prediction model for robotic surgery in orthopedics, Proceedings. CAOS 2004Google Scholar

Copyright information

© CISM, Udine 2006

Authors and Affiliations

  • Alberto Rovetta
    • 1
  • Elena Cristina Paul
    • 1
  • Chiara Zocchi
    • 1
  1. 1.Dipartimento di MeccanicaPolitecnico di MilanoMilanoItaly

Personalised recommendations