Climbing and Walking Robots: From Biology to Industrial Applications (CLAWAR 2001)

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Karsten Berns, Rudiger Dillmann
John Wiley & Sons, Nov 28, 2001 - Technology & Engineering - 1052 pages
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This work presents the proceedings of the Fourth International Conference on Climbing and Walking Robots (CLAWAR 2001) held between the 24-26th September 2001. The topics covered include: biomechanical aspects; neurothological concepts; design methodologies; fluid actuators; sensor systems; control architecture and simulation; control approaches; crawling locomotion; multi-legged walking; biped locomotion; climbing; and application.
 

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Contents

External identification of human body anthropomorphic parameters
15
On the interaction between the human and the robot in bipedal walking
33
Active gait orthosis with pneumatic proportional control
47
Design criteria for the leg of a walking machine derived by biological
63
Control of hexapod walking a decentralized solution based on biological
79
Threedimensional adaptive dynamic walking of a quadruped robot
97
Design of nonbiomimetic walker with fewer actuators
115
Relevant friction effects on walking machines
135
Static walker foot design and implementation
181
The biomimetic design of a robot primate using pneumatic muscle
197
Polish artificial pneumatic muscle design problems
215
Walking machine with compliant joints
231
Fast analysis of the stereo images using dynamic programming
247
ViGWaM active vision system gaze control for goaloriented walking
265
Computing requirements for CLAWAR machines
283
SynDEx for realtime applications implementations
299

Dynamics of robot with vibrating engine
151
Underactuated leg of the walking machine
167
Threedimensional biomechanical computer simulation of twolegged
315
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