•10:40-11:00
Designing cable-driven parallel robots for pick-and-place
operation with low energy consumption and minimal use of
resources
C. Thomas and J.-P. Merlet
•11:00-11:20
Tension-aware error modeling for fast pose estimation of
underactuated cable-driven parallel robots
S. Gabaldo, E. Ida', and M.
Carricato
•11:20-11:40
Axial tilt & torsion: an orientation representation for
four-cable suspended parallel robots.
C. Frayard, A. Kumar, J.
Antoine, and T. Raharijaina
•11:40-12:00
Inverse geometrico-static problem of cable-network-driven
parallel robots
E. Ida'
•12:00-12:20
Geometric calibration of an over-constrained CDPR using
partial end-effector pose measurement
S. Lessanibahri, H. Chanal,
C. Bouzgarrou, and M. Gouttefarde
12:20-15:00: LUNCH BREAK
15:00-16:40: SESSION VII. Flexible Robots
Chair: D.
Chablat
• 15:00-15:20 Conformational transitions of
cyclohexane via minimal elastokinematic models: Physical and
FEA models
G. Ananthasuresh, M. Bosco, and E.
Prabhakaran
• 15:20-15:40 Mechanical advantage of compliant
mechanisms, soft robots, and continuum elastic manipulators
V. Ravindran and G. Ananthasuresh
• 15:40-16:00 Modelling and experimental
analysis of a soft fin-ray effect finger
P. Wang, V. Begoc, and S. Briot
• 16:00-16:20 Vision-based validation of a
strain-based rod model under planar bending
A. Delucchi, V. Di Paola, A.
Müller, and M. Zoppi
• 16:20-16:40 Using artificial neural networks
to solve inverse kinematics of planar flexible manipulators
O. Altuzarra, J. Ruiz-Erezuma, M. Urízar and A. Hernández
17:00-20:00: MUSEUM
VISIT
📍 Location: Picasso Museum Barcelona
WEDNESDAY, JULY 1, 2026
09:30-10:10: SESSION
V. Tensegrity Robots
Chair: V. van der Wijk
• 9:30-9:50 Kinetostatic analysis of a class of
planar 2-DOF tensegrity manipulators
A. Lenoir, C. Chevallereau, A. Pitti,
and P. Wenger
• 9:50-10:10 Impact of Redundant Actuation on a
3-DOF Tensegrity Mechanism
K. Muñoz, M. Porez, and P. Wenger
10:10-10:40: COFFEE
BREAK
10:40-12:20:SESSION
VI. Serial Robots
Chair: B. Siciliano
• 10:40-11:00 The distance-based eighth-degree
closure polynomial for the FANUC CRX robot series
F. Thomas and J.M. Porta
• 11:00-11:20 Uniqueness domains of offset
wrist robots via a 4D workspace representation
A. Feeß and M. Weiß
• 11:20-11:40 An optimization-based approach to
the HyRMan manipulator’s inverse kinematics
F. Pagano, M.
Selvaggio, V. Lippiello, and B. Siciliano
• 11:40-12:00 The twist decomposition of serial
robots under lower-mobility tasks
L. Baron and D. Chablat
• 12:00-12:20 Formulation of inverse kinematics
equations on the hyper-state of serial kinematic chains
D. Condurache
12:20-15:00: LUNCH BREAK
13:45-14:45: Meeting
of the IFToMM Technical Committee for Computational
Kinematics
📍 Location: Conference
site
15:00-15:40: INVITED
TALK
J. Michael McCarthy: Robot Walking and
Swimming with Reduced Actuation
15:40-17:00: SESSION X. Synthesis Chair: J. M. McCarthy
•15:40-16:00
Structural synthesis and direct kinematics of 3 – CCC type
parallel manipulator
Z. Baigunchekov, N. Dosmagambet,
D. Zhangabergen, M. Suleimenov, and E. Alkhozhaev
•16:00-16:20
Dimensional synthesis of actuated mechanisms using the
deformation energy method
L. Beurthey, L
Al-Bassit, N. Bouton, and R. Lenain
•16:20-16:40
Computer-aided design of rational motions for 4R and 6R
spatial mechanism synthesis
D. Huczala, S. Zube,
M. Pfurner, J. Siegele, and F. Park
• 16:40-17:00 On
kinematic acquisition of geometric constraints via
null-space analysis of planar displacement data: null-space
analysis for kinematic constraint acquisition
Q. Ge, H. Liu, and A. Purwar
17:00-17:30: COFFEE BREAK
17:30-18:30: SESSION XI. Continuum Robot
Chair: O. Altuzarra
•17:30-17:50
Sensitivity Analysis of a RFRFR Continuum Parallel Robot
L. Maldonado, Q. Peyron, S. Briot, and C. Duriez
•17:50-18:10
Intuitive Physical Interaction in Macro–Mini Robotic
Assistance via a Continuum Parallel Robot
A. Trabelsi, A. Yigit, J. Sandoval, and S. Briot
•18:10-18:30
Towards Computationally Efficient Dynamic Model of a Planar
Parallel Continuum Robot
R. Mohamed, G. Ganesh, and J. Cavalcanti Santos
19:30-20:00: EXHIBITION VISIT. THE SIEGE
OF 1714
📍 Location: Born Centre Cultural,
Barcelona
🚶
Meeting point (19:00): PRBB main
entrance (20-minute walk to destination)
"El Born" in Barcelona is a vibrant
neighborhood that comes alive at night, where you
can soak up the lively ambiance of "Passeig del
Born" or wander its charming cobblestone streets.
Known for its bars and electric energy, it's the
perfect place to explore and immerse yourself in the
city's nigh life.
THURSDAY,
JULY 2, 2026
09:30-10:30: SESSION XII. Wheeled Robots
Chair: J. M. Porta
• 9:30-9:50 Equilibrium design of a wheeled
vehicle for measuring outer diameter of straight stainless
steel pipes
G. Wu
• 9:50-10:10 Pitch motion analysis of vehicles
with trailing-arms suspension system
C. Lanni and G. Figliolini
• 10:10-10:30 Kinematic analysis of
non-steering four-wheel vehicles
G. Figliolini, C. Lanni, and L.
Tomassi
10:30-11:00: COFFEE
BREAK
11:00-12:40: SESSION
XIII. Planar Robots
Chair: P. Wenger
• 11:00-11:20 A novel approach for kinematic
analysis and workspace optimization of a redundant full
rotation planar parallel manipulator
H. Simas, R. Simoni, and L.
Meneghini
• 11:20-11:40 Estimation of obstacle-aware
reachability maps for arbitrary three-link planar
manipulators using one surrogate model
S. Schläger, S. Gross, H.
Luo, M. Hüsing, and B. Corves
• 11:40-12:00 Towards reconfigurable phase
changing articulated drives for improved performance
J. Yang, R. Kaluger, M.
Hafez, and N. Robson
• 12:00-12:20 Balance solutions for the
Chebyshev lambda straight-line linkage
V. van der Wijk
• 12:20-12:40 Inverse kinematics and partial
mass balancing of a five-bar SCARA robot
G. Wu and H. Shen
12:40-15:00: LUNCH
BREAK
15:00-16:40: SESSION XIV. Medical Applications
Chair: D. Pisla
• 15:00-15:20 Kinematics modelling of
sit-to-stand exercise for the lower extremities
rehabilitation exoskeleton integrated with the mobile
platform
P. Falkowski, J. Oleksiuk,
and K. Jeznach
•15:20-15:40
Kinematics of ATHENA robot for pancreas surgery
M. Husty, M. Pfurner, B.
Gherman, C. Vaida, D. Chablat, and D. Pisla
•15:40-16:00
A hand exoskeleton with flexion and abduction motion
M. Fava, V.
Parenti-Castelli, M. Jiang, Y. Takeda, and N. Sancisi
•16:00-16:20
Application of topological requirements for the definition
of orthosis mechanisms
G. Souza, E. Hideki Murai,
A. Piga Carboni, X. Ding, and D. Martins
•16:20-16:40
A kinetostatic approach for the singularity analysis of a
rehabilitation parallel manipulator
P. Diego, E. Macho, F. Campa, S.
Herrero, J. Corral, M. Diez, and C. Pinto
16:40-17:00: COFFEE BREAK
17:00-18:40: SESSION
XV. Dynamics
Chair: D. Martins
• 17:00-17:20 Minimal coordinate dynamic
simulation through singularities
R. Kumar, S. Kumar, and F. Kirchner
• 17:20-17:40 Higher-order derivatives of the
kinematic and dynamic equations for dynamic synthesis of a
Watt-II six-bar linkage
V. van der Wijk and J. Meijaard
• 17:40-18:00 Dynamic modeling of a welding
torch umbilical and Its impact on robot dynamics
N. Gautier, Y. Guillermit,
M. Porez, F. Rousset, and D. Chablat
• 18:00-18:20 Dimensionally consistent optimal
dynamic balancing of slider-crank mechanisms using
equimomental systems and screw theory
N. Romero Nuñez, G. Moreno Contreras, M.
Acevedo, and D. Martins
• 18:20-18:40 Constrained thrust allocation
for underwater vehicles using a DH-based Newton-Euler
model and ADMM
B. Thool, J. Kadiyam, and S. Mohan
19:00-21:00: FAREWELL
GATHERING AND AWARD CEREMONY
