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

M. O. Tokhi, G. S. Virk, M. A. Hossain (editors)3540264132, 9783540264132, 3540264159, 9783540264156

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 robotics. The shift of robotics from manufacturing to services is clearly gaining pace as witnessed by the growth in activities in the CLAWAR area. Moreover, the amalgamation of original ideas and related innovations, search for new potential applications and the use of state of the art support technologies indicate that important steps are likely in the near future and the results could have a significant beneficial socio-economic impact.
This book reports on state of the art latest research and development findings and results presented in the CLAWAR 2005 Conference. These are presented in 131 technical articles by authors from 27 countries worldwide. The book is structured into 21 sections, which include some of the traditional topics featured in previous CLAWAR conferences with a set of new topics such as bioengineering, flexible manipulators, personal assistance applications, non-destructive test applications, security and surveillance applications and space applications of robotics.
The editors are grateful to colleagues within the committee structure of the CLAWAR 2005 for their help in the review process of the articles and their support throughout this project.

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Table of contents :
Front Matter….Pages 1-1
Common Situation Awareness as Basis for Human-Robot Interface….Pages 3-18
Gait Restoration by Functional Electrical Stimulation….Pages 19-26
Space Robotics….Pages 27-37
Front Matter….Pages 39-39
ASYSTENT – Control System of a Manipulator for Keyhole Surgery….Pages 41-48
A Biologically Inspired Model For Quadruped Locomotion….Pages 49-56
Fuzzy Logic Control Strategy for Functional Electrical Stimulation in Bipedal Cycling….Pages 57-64
Insect-inspired, Actively Compliant Hexapod Capable of Object Manipulation….Pages 65-72
Modeling and Simulation of Humanoid Stair Climbing….Pages 73-80
Design Issues of Spring Brake Orthosis: Evolutionary Algorithm Approach….Pages 81-88
Recent Developments in Implantable and Surface Based Dropped Foot Functional Electrical Stimulators….Pages 89-96
Fluidically Driven Robots with Biologically Inspired Actuators….Pages 97-104
Front Matter….Pages 105-105
Concept for Energy-autarkic, Autonomous Climbing Robots….Pages 107-114
Navigation of Walking Robots: Path Planning….Pages 115-122
Study on Mobility of Connected Crawler Robot by Using GA….Pages 123-130
A Robot that Climbs Walls using Micro-structured Polymer Feet….Pages 131-138
Novel Solutions to Design Problems of Industrial Climbing Robots….Pages 139-146
Fast Pointing and Tracking System for Mobile Robot Short Range Control via Free Space Optical Laser Line of Sight Communication Link….Pages 147-154
Front Matter….Pages 155-155
4 Legs Positioning Control of the Quadruped Robot by LVS using Stereo Ominidirectional Camera….Pages 157-164
Control of a 3D Quadruped Trot….Pages 165-172
Research on Obstacle-navigation Control of a Mobile Robot for Inspection of the Power Transmission Lines Based on Expert System….Pages 173-180
Front Matter….Pages 155-155
Measure of the Propulsion Dynamic Capability of a Walking System….Pages 181-188
Experimental Walking Results of LUCY, a Biped with Pneumatic Artificial Muscles….Pages 189-196
Hip Joint Control of a Legged Robot for Walking Uniformly and the Self-lock Mechanism for Compensating Torque Caused by Weight….Pages 197-204
Controlling Dynamic Stability and Active Compliance to Improve Quadrupedal Walking….Pages 205-212
Complete Stability Analysis of a Control Law for Walking Robots with Non-permanent Contacts….Pages 213-220
Vision-based Stabilization of the IDP Flat Output….Pages 221-228
Bus Communication in Robot System Control….Pages 229-236
A Hybrid Locomotion Control Approach….Pages 237-244
Model and Control of Joints Driven by Fluidic Muscles with the Help of Advanced Automatic Algorithm Generation Software….Pages 245-252
Modelling and Control of a X4 Bidirectional Rotors….Pages 253-260
Stability Measure Comparison for the Design of a Dynamic Running Robot….Pages 261-268
Control Architecture and Walking Strategy for a Pneumatic Biped Robot….Pages 269-276
Time-scaling Control of a Compass Type Biped Robot….Pages 277-284
Front Matter….Pages 285-285
Mechanical Design of Step-Climbing Vehicle with Passive Linkages….Pages 287-294
Integrated Structure-control Design of Dynamically Walking Robots….Pages 295-302
Intuitive Design and Gait Analysis for a Closed Loop Leg Mechanism of a Quadruped with Single Actuator….Pages 303-310
Design of a Cockroach-like Running Robot for the 2004 SAE Walking Machine Challenge….Pages 311-318
Finding Adequate Optimization Criteria to Solve Inverse Kinematics of Redundant Bird Leg Mechanism….Pages 319-326
Integrated System of Assisted Mechatronic Design for Oriented Computer to Automatic Optimising of Structure of Service Robots (SIDEMAR)….Pages 327-334
The Construction of the Four Legged Prototype Robot ARAMIES….Pages 335-342
Front Matter….Pages 285-285
Application of Waves Displacement Algorithms for the Generation of Gaits in an All Terrain Hexapod….Pages 343-348
Extensive Modeling of a 3 DOF Passive Dynamic Walker….Pages 349-356
Development of Biped Robots at the National University of Colombia….Pages 357-364
Design of a Low Cost Force and Power Sensing Platform for Unmanned Aerial Vehicles….Pages 365-372
Front Matter….Pages 373-373
Observer Backstepping for Height Control of a Resonance Hopping Robot….Pages 375-382
Standing up with Motor Primitives….Pages 383-390
Multiple Terrain Adaptation Approach Using Ultrasonic Sensors for Legged Robots….Pages 391-398
Sliding Mode Observer with No Orientation Measurement for a Walking Biped….Pages 399-406
Front Matter….Pages 407-407
Detection and Classification of Posture Instabilities of Bipedal Robots….Pages 409-416
Development of a Low-Cost Humanoid Robot: Components and Technological Solutions….Pages 417-424
Analysis of Humanoid Robot Lower Extremities Force Distribution in Standing Position….Pages 425-432
ZMP Human Measure System….Pages 433-440
Mechanical Design and Dynamic Analysis of the Humanoid Robot RH-0….Pages 441-448
Advanced Motion Control System for the Humanoid Robot Rh-0….Pages 449-456
Humanoid Vertical Jump with Compliant Contact….Pages 457-464
Front Matter….Pages 465-465
A 3D Galloping Quadruped Robot….Pages 467-474
Kineto-static Analysis of an Articulated Six-wheel Rover….Pages 475-484
Momentum Compensation for the Dynamic Walk of Humanoids Based on the Optimal Pelvic Rotation….Pages 485-492
Walk Calibration in a Four-legged Robot….Pages 493-500
Peristaltic Locomotion: Application to a Worm-like Robot….Pages 501-508
Front Matter….Pages 465-465
Impact Shaping for Double Support Walk: From the Rocking Block to the Biped Robot….Pages 509-516
Proposal of 4-leg Locomotion by Phase Change….Pages 517-524
Introducing the Hex-a-ball, a Hybrid Locomotion Terrain Adaptive Walking and Rolling Robot….Pages 525-532
Stability Control of an Hybrid Wheel-Legged Robot….Pages 533-540
Front Matter….Pages 541-541
Hybrid Control Scheme for Tracking Performance of a Flexible system….Pages 543-550
Predesign of an Anthropomorphic Lightweight Manipulator….Pages 551-558
Design of a “Soft” 2-DOF Planar Pneumatic Manipulator….Pages 559-566
Simulation and Experimental Studies of Hybrid Learning Control with Acceleration Feedback for Flexible Manipulators….Pages 567-574
BNN-based Fuzzy Logic Controller for Flexible-link Manipulator….Pages 575-582
Design Constraints in Implementing Real-time Algorithms for a Flexible Manipulator System….Pages 583-590
Pay-Load Estimation of a 2 DOF Flexible Link Robot….Pages 591-598
Design of Hybrid Learning Control for Flexible Manipulators: a Multi-objective Optimisation Approach….Pages 599-606
Intelligent Modelling of Flexible Manipulator Systems….Pages 607-614
Wafer Handling Demo by SERPC….Pages 615-622
Vision Control for an Artificial Hand….Pages 623-630
Robotic Finger that Imitates the Human Index Finger in the Number and Distribution of its Tendons….Pages 631-638
Front Matter….Pages 639-639
Methods for Collective Displacement of Modular Self-reconfigurable Robots….Pages 641-648
Suboptimal System Recovery from Communication Loss in a Multi-robot Localization Scenario using EKF Algorithms….Pages 649-658
ORTHO-BOT : A Modular Reconfigurable Space Robot Concept….Pages 659-666
Motion of Minimal Configurations of a Modular Robot: Sinusoidal, Lateral Rolling and Lateral Shift….Pages 667-674
Front Matter….Pages 675-675
The Modular Walking Machine, Platform for Technological Equipments….Pages 677-684
YaMoR and Bluemove — An Autonomous Modular Robot with Bluetooth Interface for Exploring Adaptive Locomotion….Pages 685-692
On the Development of a Modular External-pipe Crawling Omni-directional Mobile Robot….Pages 693-700
Modularity and Component Reuse at the Shadow Robot Company….Pages 701-708
CLAWAR Design Tools to Support Modular Robot Design….Pages 709-716
Front Matter….Pages 717-717
Pneumatic Actuators for Serpentine Robot….Pages 719-726
Nontraditional Drives for Walking Robots….Pages 727-734
Energy Efficiency of Quadruped Gaits….Pages 735-742
Bellows Driven, Muscle Steered Caterpillar Robot….Pages 743-750
On the Application of Impedance Control to a Non-linear Actuator….Pages 751-758
MACCEPA: the Actuator with Adaptable Compliance for Dynamic Walking Bipeds….Pages 759-766
A Design of a Walking Robot with Hybrid Actuation System….Pages 767-774
Manipulators Driven by Pneumatic Muscles….Pages 775-782
Front Matter….Pages 783-783
New Advances on Speckle-velocimeter for Robotized Vehicles….Pages 785-792
Information Processing in Reactive Navigation and Fault Detection of Walking Robot….Pages 793-800
Intelligent Sensor System and Flexible Gripper for Security Robots….Pages 801-808
Search Performance of a Multi-robot Team in Odour Source Localisation….Pages 809-816
A “T-shirt Based” Image Recognition System….Pages 817-824
Object Shape Characterisation using a Haptic Probe….Pages 825-832
Detection of Landmines Using Nuclear Quadrupole Resonance (NQR): Signal Processing to Aid Classification….Pages 833-840
Front Matter….Pages 841-841
Simulator for Locomotion Control of the Alicia 3 Climbing Robot….Pages 843-850
A General Platform for Robot Navigation in Natural Environments….Pages 851-858
Simulations of the Dynamic Behavior of a Bipedal Robot with Torso Subjected to External Eisturbances….Pages 859-866
Front Matter….Pages 867-867
Analysis of the Direct and Inverse Kinematics of ROMA II Robot….Pages 869-874
Simulation of a Novel Snake-Like Robot….Pages 875-882
An Actuated Horizontal Plane Model for Insect Locomotion….Pages 883-890
Front Matter….Pages 891-891
Machine Vision Guidance System for a Modular Climbing Robot used in Shipbuilding….Pages 893-900
A Locomotion Robot for Heavy Load Transportation….Pages 901-908
Using Signs for Configuring Work Tasks of Service Robots….Pages 909-916
System for Monitoring and Controlling a Climbing and Walking Robot for Landslide Consolidation….Pages 917-924
Front Matter….Pages 925-925
Small Inspection Vehicles for Non-Destructive Testing Applications….Pages 927-934
Automated NDT of Floating Production Storage Oil Tanks with a Swimming and Climbing Robot….Pages 935-942
7-axis Arm for NDT of Surfaces with Complex & Unknown Geometry….Pages 943-950
Front Matter….Pages 951-951
Elderly People Sit to Stand Transfer Experimental Analysis….Pages 953-960
A Portable Light-weight Climbing Robot for Personal Assistance Applications….Pages 961-968
Modeling and Control of Upright Lifting Wheelchair….Pages 969-976
A Humanoid Head for Assistance Robots….Pages 977-984
An Application of the AIGM Algorithm to Hand-Posture Recognition in Manipulation….Pages 985-992
Front Matter….Pages 993-993
AirEOD: a Robot for On-board Airplanes Security….Pages 995-1002
AIMEE: A Four-Legged Robot for RoboCup Rescue….Pages 1003-1010
Front Matter….Pages 993-993
Modular Situational Awareness for CLAWAR Robots….Pages 1011-1020
Front Matter….Pages 1021-1021
Design Drivers for Robotics Systems in Space….Pages 1023-1030
A Robotics Task Scheduler – TAPAS….Pages 1031-1036
Mobile Mini-Robots For Space Application….Pages 1037-1044
Teleagents for Exploration and Exploitation in Future Human Planetary Missions….Pages 1045-1052
An Expandable Mechanism for Deployment and Contact Surface Adaptation of Rover Wheels….Pages 1053-1060
A New Traction Control Architecture for Planetary Exploration Robots….Pages 1061-1068
The Lemur II-Class Robots for Inspection and Maintenance of Orbital Structures: A System Description….Pages 1069-1076
Lemur IIb: a Robotic System for Steep Terrain Access….Pages 1077-1084
Front Matter….Pages 1085-1085
Virtual Immersion for Tele-Controlling a Hexapod Robot….Pages 1087-1094
Economic Prospects for Mobile Robotic Systems, New Modular Components….Pages 1095-1101