Climbing and Walking Robots: Proceedings of the 7th International Conference CLAWAR 2004

Manuel Armada, Pablo González de Santos (editors)3540229922, 9783540229926, 3540294619, 9783540294610

The interest in climbing and walking robots (CLAWAR) has remarkably augmented over recent years. Novel solutions for complex and very diverse application fields (exploration/intervention in severe environments, personal services, emergency rescue operations, transportation, entertainment, medical, etc.), has been anticipated by means of a large progress in this area of robotics. Moreover, the amalgamation of original ideas and related innovations, the search for new potential applications and the use of state of the art supporting technologies permit to foresee an important step forward and a significant socio-economic impact of advanced robot technology in the forthcoming years. In response to the technical challenges in the development of these sophisticated machines, a significant research and development effort has to be undertaken. It concerns embedded technologies (for power sources, actuators, sensors, information systems), new design methods, adapted control techniques for highly redundant systems, as well as operational and decisional autonomy and human/robot co-existence.
This book contains the proceedings of the 7th Climbing and Walking Robots 2004 (CLAWAR 2004) Conference offering the international scientific community one of the most excellent forums for academics, researchers and industrialists interested in this motivating area of climbing and walking robots. It provides a wide forum of original state-of-the-art contributions from various industrial and new/emerging research fields, presenting a full picture of climbing and walking robots. The conference, held in Madrid, Spain, September 22-24 2004 was organized by the Thematic Network “CLAWAR 2” and funded by the European Commission under the GROWTH Programme.

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Table of contents :
Robot Vision: A Holistic View….Pages 1-38
What Bipedal Human Locomotion Can Teach Us About Motor Control Synergies for Safe Robotic Locomotion….Pages 39-46
Problems of Scale for Walking and Climbing Animals….Pages 47-54
Biologically Motivated Control of Walking Machines….Pages 55-69
Integer vs. Fractional Order Control of a Hexapod Robot….Pages 73-83
Synchronous Landing Control of a Rotating 4-Legged Robot, PEOPLER, for Stable Direction Change….Pages 85-96
Neuro-Controllers for Walking Machines — An Evolutionary Approach to Robust Behavior….Pages 97-102
Decentralized Dynamic Force Distribution for Multi-legged Locomotion….Pages 103-111
An Outdoor Vehicle Control Method Based Body Configuration Information….Pages 113-121
Physically Variable Compliance in Running….Pages 123-133
Implementation of a Driver Level with Odometry for the LAURON III Hexapod Robot….Pages 135-141
Local Positive Velocity Feedback (LPVF): Generating Compliant Motions in a Multi-Joint Limb….Pages 143-151
Motion Calculation for Human Lower Extremities Based on EMG-Signal-Processing and Simple Biomechanical Model….Pages 153-161
Bifurcating Recursive Processing Elements in Neural Architectures for Applications in Multi-Dimensional Motor Control and Sensory Fusion in Noisy/Uncertain Environments….Pages 163-170
The Effectiveness of Energy Conversion Elements in the Control of Powered Orthoses….Pages 171-179
Kinematical Behavior Analysis and Walking Pattern Generation of a Five Degrees of Freedom Pneumatic Robotic Leg….Pages 181-190
Artificial Potential Based Control for a Large Scale Formation of Mobile Robots….Pages 191-199
Mobile Mini Robots for MAS….Pages 201-209
Two Neural Approaches for Solving Reaching Tasks with Redundant Robots….Pages 211-217
Design and Implementation of Force Sensor for ROBOCLIMBER….Pages 219-227
Detecting Zero-Moment Point in Legged Robot….Pages 229-236
Vision Feedback in Control of a Group of Mobile Robots….Pages 237-245
Kinematics of a New Staircase Climbing Wheelchair….Pages 249-264
Open Modular Design for Robotic Systems….Pages 265-274
Mechanical Design Optimization of a Walking Robot Leg Using Genetic Algorithm….Pages 275-284
Design Toolset for Realising Robotic Systems….Pages 285-294
Design, Dynamic Simulation and Experimental Tests of Leg Mechanism and Driving System for a Hexapod Walking Robot….Pages 295-303
Limb-Mechanism Robot with Winch Mechanism….Pages 305-312
Embodiment in Two Dimensions….Pages 313-320
Legged Robot with Articulated Body in Locomotion Over Complex Terrain….Pages 321-328
WALKIE 6.4: A New Improved Version of a Rigid Frames Hexapod Rover….Pages 329-340
Wall Walker: Proposal of Locomotion Mechanism Cleaning Even at the Corner….Pages 341-348
Behaviour Networks for Walking Machines — A Design Method….Pages 349-356
Biological Inspired Walking — How Much Nature Do We Need?….Pages 357-364
Results of Applying Sensor Fusion to a Control System Using Optic Flow….Pages 367-375
Novel Method for Virtual Image Generation for Teleoperation….Pages 377-385
Intelligent Technical Audition and Vision Sensors for Walking Robot Realizing Telepresence Functions….Pages 387-397
Learning About the Environment by Analyzing Acoustic Information. How to Achieve Predictability in Unknown Environments? (Part II)….Pages 399-409
Ultrasound Sensor System with Fuzzy Data Processing….Pages 411-417
Finding Odours Across Large Search Spaces: A Particle Swarm-Based Approach….Pages 419-426
Vision Feedback in Control of a Group of Mobile Robots….Pages 427-435
Vehicle Teleoperation with a Multisensory Driving Interface….Pages 437-445
Approaches to the Generation of Whole Body Motion Sensation in Teleoperation….Pages 447-456
Virtual Platform for Land-Mine Detection Based on Walking Robots….Pages 457-465
Vision Computer Tool to Improve the Dependability of Mobile Robots for Human Environments….Pages 467-476
Toward Springy Robot Walk Using Strand-Muscle Actuators….Pages 479-486
Actuator Sizes in Bio-Robotic Walking Orthoses….Pages 487-493
The Design and Simulated Performance of an Energy Efficient Hydraulic Legged Robot….Pages 495-501
The Modularity of Super Embedded Robotic PC….Pages 503-509
Mass Distribution Influence on Power Consumption in Walking Robots….Pages 511-518
Design of Dual Actuator for Walking Robots….Pages 519-527
Control of a 3-D Hopping Apparatus….Pages 531-541
Learning of the Dynamic Walk of an Under-Actuated Bipedal Robot: Improvement of the Robustness by Using CMAC Neural Networks….Pages 543-550
Dynamic Stabilization of an Under-Actuated Robot Using Inertia of the Transfer Leg….Pages 551-559
Kinematic and Dynamic Analyses of a Pantograph-Leg for a Biped Walking Machine….Pages 561-568
Humanoid Robot Kinematics Modeling Using Lie Groups….Pages 569-575
GA Optimisation of the PD Coefficients for the LMBC of a Planar Biped….Pages 577-584
Three-Dimensional Running is Unstable but Easily Stabilized….Pages 585-592
A Biomimetic Approach for the Stability of Biped Robots….Pages 593-600
Parallel Manipulator Hip Joint for a Bipedal Robot….Pages 601-609
Gaits Stabilization for Planar Biped Robots Using Energetic Regulation….Pages 611-623
Force Feedback Control Implementation for SMART Non-Linear Actuator….Pages 625-631
User Friendly Graphical Environment for Gait Optimization of the Humanoid Robot Rh-0….Pages 633-641
Development of the Light-Weight Human Size Humanoid Robot RH-0….Pages 643-653
Human Machine Interface for Humanoid Robot RH-0….Pages 655-663
Trajectory Planning for the Walking Biped “Lucy”….Pages 665-676
Height Control of a Resonance Hopping Robot….Pages 677-688
Zero Moment Point Modeling Using Harmonic Balance….Pages 689-699
An Introductory Revision to Humanoid Robot Hands….Pages 701-712
Control Architecture of LUCY, a Biped with Pneumatic Artificial Muscles….Pages 713-722
Stable Walking and Running Robots Without Feedback….Pages 725-735
From Passive to Active Dynamic 3D Bipedal Walking — An Evolutionary Approach….Pages 737-744
First Steps in Passive Dynamic Walking….Pages 745-756
Controlling Walking Period of a Pneumatic Muscle Walker….Pages 757-764
Evolutionary Design of an Adaptive Dynamic Walker….Pages 765-773
The Passivity Paradigm in the Control of Bipedal Robots….Pages 775-786
Ankle Joints and Flat Feet in Dynamic Walking….Pages 787-800
Robotic Walking Aids for Disabled Persons….Pages 801-811
The Tango of a Load Balancing Biped….Pages 813-823
Locomotion Modes of an Hybrid Wheel-Legged Robot….Pages 825-833
Stabilizing Dynamic Walking with Physical Tricks….Pages 835-842
Stability of a Spherical Pendulum Walker….Pages 843-848
A CLAWAR That Benefits From Abstracted Cockroach Locomotion Principles….Pages 849-857
iSprawl : Autonomy, and the Effects of Power Transmission….Pages 859-867
Locomotion of a Modular Worm-like Robot Using a FPGA-based Embedded MicroBlaze Soft-processor….Pages 869-878
Evolutionary Synthesis of Structure and Control for Locomotion Systems….Pages 879-888
Kinematic Model and Absolute Gait Simulation of a Six-Legged Walking Robot….Pages 889-896
Simulation of Climbing Robots Using Underpressure for Adhesion….Pages 899-908
Technique for a Six-Legged Walker Climbing a High Shelf by Using a Vertical Column….Pages 909-917
Inverse Kinematic/Dynamic Analysis of a New 4-DOF Hybrid (Serial-Parallel) Pole Climbing Robot Manipulator….Pages 919-934
Climbing Without a Vacuum Pump….Pages 935-942
ROBOCLIMBER: Control System Architecture….Pages 943-952
Navigation of Walking Robots: Localisation by Odometry….Pages 953-960
Towards Penetration-based Clawed Climbing….Pages 961-970
Motion Planning for a Legged Vehicle Based on Optical Sensor Information….Pages 971-979
Developing Climbing Robots for Education….Pages 981-988
Robust Localisation System for a Climbing Robot….Pages 989-996
Roboclimber: Proposal for Online Gait Planning….Pages 997-1003
Adhesion Control for the Alicia 3 Climbing Robot….Pages 1005-1015
In Service Inspection Robotized Tool for Tanks Filled with Hazardous Liquids — Robtank Inspec….Pages 1019-1031
SIRIUSc — Facade Cleaning Robot for a High-Rise Building in Munich, Germany….Pages 1033-1040
In-Pipe Microrobot with Inertial Mood of Motion….Pages 1041-1051
The Layer-Crossing Strategy of Curved Wall Cleaning Robot….Pages 1053-1060
Pneumatic Climbing Robots for Glass Wall Cleaning….Pages 1061-1069
Design and Prototyping of a Hybrid Pole Climbing and Manipulating Robot with Minimum DOFs for Construction and Service Applications….Pages 1071-1080
Design and Control of a Manipulator for Landmine Detection….Pages 1083-1090
Interactions Between Human and Robot — Case Study: WorkPartner-Robot in the ISR 2004 Exhibition….Pages 1091-1096
Robust Platform for Humanitarian Demining….Pages 1097-1105
Co-Operative Smell-Based Navigation for Mobile Robots….Pages 1107-1117
A Localization Algorithm for Outdoor Trajectory Tracking with Legged Robots….Pages 1119-1126
Sit to Stand Transfer Assisting by an Intelligent Walking-Aid….Pages 1127-1135
CLAWAR Modularity — Design Tools….Pages 1139-1145
Interaction Space Analysis for CLAWAR WP5 Societal Needs….Pages 1147-1158
CLAWAR WP3 Applications: Natural/Outdoor and Underwater Robots….Pages 1159-1170
CLAWAR 2 Work Package 6 (WP6) — Assessment Year 2, May 2004. Economic Prospects for Mobile Robotic Systems — Exploitation and Risk….Pages 1171-1190