Climbing and Walking Robots: Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2005)

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Mohammad Osman Tokhi, G.S. Virk, M. Alamgir Hossain
Springer Science & Business Media, May 5, 2006 - Technology & Engineering - 1111 pages
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The interest in climbing and walking robots (CLAWAR) has intensified in recent years, and novel solutions for complex and very diverse applications have been anticipated by means of significant progress in this area of - botics. Moreover, the amalgamation of original ideas and related inno- tions, search for new potential applications and the use of state of the art support technologies permit to foresee an important step forward and a significant socio-economic impact of advanced robot technology in the - ture. This is leading to the creation and consolidation of a mobile service robotics sector where most of the robotics activities are foreseen in the - ture. The technology is now maturing to become of real benefit to society and methods of realizing this potential quickly are being eagerly explored. Robot standards and modularity are key to this and form key components of the research presented here. CLAWAR 2005 is the eighth in a series of international conferences - ganised annually since 1998 with the aim to report on latest research and development findings and to provide a forum for scientific discussion and debate within the mobile service robotics community. The series has grown in its popularity significantly over the years, and has attracted - searchers and developers from across the globe. The CLAWAR 2005 p- ceedings reports state of the art scientific and developmental findings p- sented during the CLAWAR 2005 conference in 131 technical presentations by authors from 27 countries covering the five continents.
 

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Contents

Common Situation Awareness as Basis for HumanRobot Interface
3
Gait Restoration by Functional Electrical Stimulation
19
Space Robotics
27
BioEngineering and Biological Inspired Systems
38
ASYSTENT Control System of a Manipulator for Keyhole Surgeryš
39
A Biologically Inspired Model For Quadruped Locomotion
49
Fuzzy Logic Control Strategy for Functional Electrical Stimulation in Bipedal Cycling
57
Insectinspired Actively Compliant Hexapod Capable of Object Manipulation
65
PayLoad Estimation of a 2 DOF Flexible Link Robot
591
a Multiobjective Optimisation Approach
599
Intelligent Modelling of Flexible Manipulator Systems
607
Wafer Handling Demo by SERPC
615
Vision Control for an Artificial Hand
623
Robotic Finger that Imitates the Human Index Finger in the Number and Distribution of its Tendon
631
Modular Reconfigurable Robots
639
Methods for Collective Displacement of Modular Selfreconfigurable Robots
640

Modeling and Simulation of Humanoid Stair Climbing
73
Evolutionary Algorithm Approach
81
Recent Developments in Implantable and Surface Based Dropped Foot Functional Electrical Stimulators
89
Fluidically Driven Robots with Biologically Inspired Actuators
97
Climbing Navigation and Path Planning
105
Concept for Energyautarkic Autonomous Climbing Robots
107
Path Planning
115
Study on Mobility of Connected Crawler Robot by Using GA
123
A Robot that Climbs Walls using Microstructured Polymer Feet
131
Novel Solutions to Design Problems of Industrial Climbing Robots
139
Fast Pointing and Tracking System for Mobile Robot Short Range Control via Free Space Optical Laser Line of Sight Communication Link
147
Control of CLAWAR
155
4 Legs Positioning Control of the Quadruped Robot by LVS using Stereo Ominidirectional Camera
156
Control of a 3D Quadruped Trot
165
Research on Obstaclenavigation Control of a Mobile Robot for Inspection of the Power Transmission Lines Based on Expert System
173
Measure of the Propulsion Dynamic Capability of a Walking System
181
Experimental Walking Results of LUCY a Biped with Pneumatic Artificial Muscles
189
Hip Joint Control of a Legged Robot for Walking Uniformly and the Selflock Mechanism for Compensating Torque Caused by Weight
197
Controlling Dynamic Stability and Active Compliance to Improve Quadrupedal Walking
205
Complete Stability Analysis of a Control Law for Walking Robots with Nonpermanent Contacts
213
Visionbased Stabilization of the IDP Flat Output
221
Bus Communication in Robot System Control
229
A Hybrid Locomotion Control Approach
237
Model and Control of Joints Driven by Fluidic Muscles with the Help of Advanced Automatic Algorithm Generation Software
245
Modelling and Control of a X4 Bidirectional Rotors
253
Stability Measure Comparison for the Design of a Dynamic Running Robot
261
Control Architecture and Walking Strategy for a Pneumatic Biped Robot
269
Timescaling Control of a Compass Type Biped Robot
277
Design Methodology and Gait Generation
285
Mechanical Design of StepClimbing Vehicle with Passive Linkages
287
Integrated Structurecontrol Design of Dynamically Walking Robots
295
Intuitive Design and Gait Analysis for a Closed Loop Leg Mechanism of a Quadruped with Single Actuator
303
Design of a Cockroachlike Running Robot for the 2004 SAE Walking Machine Challenge
311
Finding Adequate Optimization Criteria to Solve Inverse Kinematics of Redundant Bird Leg Mechanism
319
Integrated System of Assisted Mechatronic Design for Oriented Computer to Automatic Optimising of Structure of Service Robots SIDEMAR
327
The Construction of the Four Legged Prototype Robot ARAMIES
335
Application of Waves Displacement Algorithms for the Generation of Gaits in an All Terrain Hexapod
343
Extensive Modeling of a 3 DOF Passive Dynamic Walker
349
Development of Biped Robots at the National University of Colombia
357
Design of a Low Cost Force and Power Sensing Platform for Unmanned Aerial Vehicles
365
Hopping and Legged Robots
373
Observer Backstepping for Height Control of a Resonance Hopping Robot
374
Standing up with Motor Primitives
383
Multiple Terrain Adaptation Approach Using Ultrasonic Sensors for Legged Robots
391
Sliding Mode Observer with No Orientation Measurement for a Walking Biped
399
Humanoid Robots
407
Detection and Classification of Posture Instabilities of Bipedal Robots
409
Components and Technological Solutions
417
Analysis of Humanoid Robot Lower Extremities Force Distribution in Standing Position
425
ZMP Human Measure System
433
Mechanical Design and Dynamic Analysis of the Humanoid Robot RH0
441
Advanced Motion Control System for the Humanoid Robot Rh0
449
Humanoid Vertical Jump with Compliant Contact
457
Locomotion
465
A 3D Galloping Quadruped Robot
466
Kinetostatic Analysis of an Articulated Sixwheel Rover
475
Momentum Compensation for the Dynamic Walk Rotation of Humanoids Based on the Optimal Pelvic
485
Walk Calibration in a Fourlegged Robot
493
Application to a Wormlike Robot
501
From the
509
Proposal of 4leg Locomotion by Phase Change
517
Introducing the Hexaball a Hybrid Locomotion Terrain Adaptive Walking and Rolling Robot
525
Stability Control of an Hybrid WheelLegged Robot
533
Manipulation and Flexible Manipulators
541
Hybrid Control Scheme for Tracking Performance of a Flexible system
543
Predesign of an Anthropomorphic Lightweight Manipulator
551
Design of a Soft 2DOF Planar Pneumatic Manipulator
559
Simulation and Experimental Studies of Hybrid Learning Control with Acceleration Feedback for Flexible Manipulators
567
BNNbased Fuzzy Logic Controller for Flexible link Manipulator
575
Design Constraints in Implementing Realtime Algorithms for a Flexible Manipulator System
583
Suboptimal System Recovery from Communication Loss in a Multirobot Localization Scenario using EKF Algorithms
649
A Modular Reconfigurable Space Robot Concept
659
Sinusoidal Lateral Rolling and Lateral Shift
667
Modularity and System Architecture
675
The Modular Walking Machine Platform for Technological Equipments
677
Modular Robot with Bluetooth Interface for Exploring Adaptive Locomotion YaMoR and Bluemove An Autonomous
685
On the Development of a Modular Externalpipe Crawling Omnidirectional Mobile Robot
693
Modularity and Component Reuse at the Shadow Robot Company
701
CLAWAR Design Tools to Support Modular Robot Design
709
Powering Actuation Efficiency
717
Pneumatic Actuators for Serpentine Robot
718
Nontraditional Drives for Walking Robots
727
Energy Efficiency of Quadruped Gaits
735
Bellows Driven Muscle Steered Caterpillar Robot
743
On the Application of Impedance Control to a Nonlinear Actuator
751
the Actuator with Adaptable Compliance for Dynamic Walking Bipeds
759
A Design of a Walking Robot with Hybrid Actuation System
767
Manipulators Driven by Pneumatic Muscles
775
Sensing and Sensor Fusion
783
New Advances on Specklevelocimeter for Robotized Vehicles
785
Information Processing in Reactive Navigation and Fault Detection of Walking Robot
793
Intelligent Sensor System and Flexible Gripper for Security Robots
801
Search Performance of a Multirobot Team in Odour Source Localisation
809
A Tshirt Based Image Recognition System
817
Object Shape Characterisation using a Haptic Probe
825
Signal Processing to Aid Classification
833
Software and Computeraided Environments
841
Simulator for Locomotion Control of the Alicia Climbing Robot
842
A General Platform for Robot Navigation in Natural Environments
851
Simulations of the Dynamic Behavior of a Bipedal Robot with Torso Subjected to External Eisturbances
859
System Analysis Modelling and Simulation
867
Analysis of the Direct and Inverse Kinematics of ROMA II Robot
869
Simulation of a Novel SnakeLike Robot
875
An Actuated Horizontal Plane Model for Insect Locomotion
883
Industrial Applications
891
Machine Vision Guidance System for a Modular Climbing Robot used in Shipbuilding
892
A Locomotion Robot for Heavy Load Transportation
901
Using Signs for Configuring Work Tasks of Service Robots
909
System for Monitoring and Controlling a Climbing and Walking Robot for Landslide Consolidation
917
Nondestructive Testing Applications
925
Small Inspection Vehicles for NonDestructive Testing Applications
927
Automated NDT of Floating Production Oil Tanks with a Swimming and Climbing Robot
935
7axis Arm for NDT of Surfaces with Complex Unknown Geometry
943
Personal Assistance Applications
951
Elderly People Sit to Stand Transfer Experimental Analysis
952
A Portable Lightweight Climbing Robot for Personal Assistance Applications
961
Modeling and Control of Upright Lifting Wheelchair
969
A Humanoid Head for Assistance Robots
977
An Application of the AIGM Algorithm to Hand Posture Recognition in Manipulation
985
Security and Surveillance Applications
993
a Robot for Onboard Airplanes Security
995
A FourLegged Robot for RoboCup Rescue
1003
Modular Situational Awareness for CLAWAR Robots
1011
Space Applications
1021
Design Drivers for Robotics Systems in Space
1022
A Robotics Task Scheduler TAPAS
1031
Mobile MiniRobots For Space Application
1037
Teleagents for Exploration and Exploitation in Future Human Planetary Missions
1045
An Expandable Mechanism for Deployment and Contact Surface Adaptation of Rover Wheels
1053
A New Traction Control Architecture for Planetary Exploration Robots
1061
A System Description
1069
a Robotic System for Steep Terrain Access
1077
Teleoperation Social and Economic Aspects
1085
Robot Virtual Immersion for TeleControlling a Hexapod
1086
Economic Prospects for Mobile Robotic Systems New Modular Components
1095
CLAWAR 2005 Organisation
1102
CLAWAR 2005 Reviewers
1105
CLAWAR 2005 Sponsors CoSponsors
1106
Author Index
1107
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