Climbing and Walking Robots: Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile

ISBN-13: 9783540264132 / Angielski / Twarda / 2006 / 1111 str.

M. O. Tokhi; G. S. Virk; M. a. Hossain

Opis

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.

Spis treści

Plenary Papers.- Common Situation Awareness as Basis for Human-Robot Interface.- Gait Restoration by Functional Electrical Stimulation.- Space Robotics.- Bio-Engineering and Biological Inspired Systems.- ASYSTENT - Control System of a Manipulator for Keyhole Surgery.- A Biologically Inspired Model For Quadruped Locomotion.- Fuzzy Logic Control Strategy for Functional Electrical Stimulation in Bipedal Cycling.- Insect-inspired, Actively Compliant Hexapod Capable of Object Manipulation.- Modeling and Simulation of Humanoid Stair Climbing.- Design Issues of Spring Brake Orthosis: Evolutionary Algorithm Approach.- Recent Developments in Implantable and Surface Based Dropped Foot Functional Electrical Stimulators.- Fluidically Driven Robots with Biologically Inspired Actuators.- Climbing, Navigation and Path Planning.- Concept for Energy-autarkic, Autonomous Climbing Robots.- Navigation of Walking Robots: Path Planning.- Study on Mobility of Connected Crawler Robot by Using GA.- A Robot that Climbs Walls using Micro-structured Polymer Feet.- Novel Solutions to Design Problems of Industrial Climbing Robots.- Fast Pointing and Tracking System for Mobile Robot Short Range Control via Free Space Optical Laser Line of Sight Communication Link.- Control of CLAWAR.- 4 Legs Positioning Control of the Quadruped Robot by LVS using Stereo Ominidirectional Camera.- Control of a 3D Quadruped Trot.- Research on Obstacle-navigation Control of a Mobile Robot for Inspection of the Power Transmission Lines Based on Expert System.- Measure of the Propulsion Dynamic Capability of a Walking System.- Experimental Walking Results of LUCY, a Biped with Pneumatic Artificial Muscles.- Hip Joint Control of a Legged Robot for Walking Uniformly and the Self-lock Mechanism for Compensating Torque Caused by Weight.- Controlling Dynamic Stability and Active Compliance to Improve Quadrupedal Walking.- Complete Stability Analysis of a Control Law for Walking Robots with Non-permanent Contacts.- Vision-based Stabilization of the IDP Flat Output.- Bus Communication in Robot System Control.- A Hybrid Locomotion Control Approach.- Model and Control of Joints Driven by Fluidic Muscles with the Help of Advanced Automatic Algorithm Generation Software.- Modelling and Control of a X4 Bidirectional Rotors.- Stability Measure Comparison for the Design of a Dynamic Running Robot.- Control Architecture and Walking Strategy for a Pneumatic Biped Robot.- Time-scaling Control of a Compass Type Biped Robot.- Design Methodology and Gait Generation.- Mechanical Design of Step-Climbing Vehicle with Passive Linkages.- Integrated Structure-control Design of Dynamically Walking Robots.- Intuitive Design and Gait Analysis for a Closed Loop Leg Mechanism of a Quadruped with Single Actuator.- Design of a Cockroach-like Running Robot for the 2004 SAE Walking Machine Challenge.- Finding Adequate Optimization Criteria to Solve Inverse Kinematics of Redundant Bird Leg Mechanism.- Integrated System of Assisted Mechatronic Design for Oriented Computer to Automatic Optimising of Structure of Service Robots (SIDEMAR).- The Construction of the Four Legged Prototype Robot ARAMIES.- Application of Waves Displacement Algorithms for the Generation of Gaits in an All Terrain Hexapod.- Extensive Modeling of a 3 DOF Passive Dynamic Walker.- Development of Biped Robots at the National University of Colombia.- Design of a Low Cost Force and Power Sensing Platform for Unmanned Aerial Vehicles.- Hopping and Legged Robots.- Observer Backstepping for Height Control of a Resonance Hopping Robot.- Standing up with Motor Primitives.- Multiple Terrain Adaptation Approach Using Ultrasonic Sensors for Legged Robots.- Sliding Mode Observer with No Orientation Measurement for a Walking Biped.- Humanoid Robots.- Detection and Classification of Posture Instabilities of Bipedal Robots.- Development of a Low-Cost Humanoid Robot: Components and Technological Solutions.- Analysis of Humanoid Robot Lower Extremities Force Distribution in Standing Position.- ZMP Human Measure System.- Mechanical Design and Dynamic Analysis of the Humanoid Robot RH-0.- Advanced Motion Control System for the Humanoid Robot Rh-0.- Humanoid Vertical Jump with Compliant Contact.- Locomotion.- A 3D Galloping Quadruped Robot.- Kineto-static Analysis of an Articulated Six-wheel Rover.- Momentum Compensation for the Dynamic Walk of Humanoids Based on the Optimal Pelvic Rotation.- Walk Calibration in a Four-legged Robot.- Peristaltic Locomotion: Application to a Worm-like Robot.- Impact Shaping for Double Support Walk: From the Rocking Block to the Biped Robot.- Proposal of 4-leg Locomotion by Phase Change.- Introducing the Hex-a-ball, a Hybrid Locomotion Terrain Adaptive Walking and Rolling Robot.- Stability Control of an Hybrid Wheel-Legged Robot.- Manipulation and Flexible Manipulators.- Hybrid Control Scheme for Tracking Performance of a Flexible system.- Predesign of an Anthropomorphic Lightweight Manipulator.- Design of a “Soft” 2-DOF Planar Pneumatic Manipulator.- Simulation and Experimental Studies of Hybrid Learning Control with Acceleration Feedback for Flexible Manipulators.- BNN-based Fuzzy Logic Controller for Flexible-link Manipulator.- Design Constraints in Implementing Real-time Algorithms for a Flexible Manipulator System.- Pay-Load Estimation of a 2 DOF Flexible Link Robot.- Design of Hybrid Learning Control for Flexible Manipulators: a Multi-objective Optimisation Approach.- Intelligent Modelling of Flexible Manipulator Systems.- Wafer Handling Demo by SERPC.- Vision Control for an Artificial Hand.- Robotic Finger that Imitates the Human Index Finger in the Number and Distribution of its Tendons.- Modular, Reconfigurable Robots.- Methods for Collective Displacement of Modular Self-reconfigurable Robots.- Suboptimal System Recovery from Communication Loss in a Multi-robot Localization Scenario using EKF Algorithms.- ORTHO-BOT: A Modular Reconfigurable Space Robot Concept.- Motion of Minimal Configurations of a Modular Robot: Sinusoidal, Lateral Rolling and Lateral Shift.- Modularity and System Architecture.- The Modular Walking Machine, Platform for Technological Equipments.- YaMoR and Bluemove — An Autonomous Modular Robot with Bluetooth Interface for Exploring Adaptive Locomotion.- On the Development of a Modular External-pipe Crawling Omni-directional Mobile Robot.- Modularity and Component Reuse at the Shadow Robot Company.- CLAWAR Design Tools to Support Modular Robot Design.- Powering, Actuation, Efficiency.- Pneumatic Actuators for Serpentine Robot.- Nontraditional Drives for Walking Robots.- Energy Efficiency of Quadruped Gaits.- Bellows Driven, Muscle Steered Caterpillar Robot.- On the Application of Impedance Control to a Non-linear Actuator.- MACCEPA: the Actuator with Adaptable Compliance for Dynamic Walking Bipeds.- A Design of a Walking Robot with Hybrid Actuation System.- Manipulators Driven by Pneumatic Muscles.- Sensing and Sensor Fusion.- New Advances on Speckle-velocimeter for Robotized Vehicles.- Information Processing in Reactive Navigation and Fault Detection of Walking Robot.- Intelligent Sensor System and Flexible Gripper for Security Robots.- Search Performance of a Multi-robot Team in Odour Source Localisation.- A “T-shirt Based” Image Recognition System.- Object Shape Characterisation using a Haptic Probe.- Detection of Landmines Using Nuclear Quadrupole Resonance (NQR): Signal Processing to Aid Classification.- Software and Computer-aided Environments.- Simulator for Locomotion Control of the Alicia3 Climbing Robot.- A General Platform for Robot Navigation in Natural Environments.- Simulations of the Dynamic Behavior of a Bipedal Robot with Torso Subjected to External Eisturbances.- System Analysis, Modelling and Simulation.- Analysis of the Direct and Inverse Kinematics of ROMA II Robot.- Simulation of a Novel Snake-Like Robot.- An Actuated Horizontal Plane Model for Insect Locomotion.- Industrial Applications.- Machine Vision Guidance System for a Modular Climbing Robot used in Shipbuilding.- A Locomotion Robot for Heavy Load Transportation.- Using Signs for Configuring Work Tasks of Service Robots.- System for Monitoring and Controlling a Climbing and Walking Robot for Landslide Consolidation.- Non-destructive Testing Applications.- Small Inspection Vehicles for Non-Destructive Testing Applications.- Automated NDT of Floating Production Storage Oil Tanks with a Swimming and Climbing Robot.- 7-axis Arm for NDT of Surfaces with Complex & Unknown Geometry.- Personal Assistance Applications.- Elderly People Sit to Stand Transfer Experimental Analysis.- A Portable Light-weight Climbing Robot for Personal Assistance Applications.- Modeling and Control of Upright Lifting Wheelchair.- A Humanoid Head for Assistance Robots.- An Application of the AIGM Algorithm to Hand-Posture Recognition in Manipulation.- Security and Surveillance Applications.- AirEOD: a Robot for On-board Airplanes Security.- AIMEE: A Four-Legged Robot for RoboCup Rescue.- Modular Situational Awareness for CLAWAR Robots.- Space Applications.- Design Drivers for Robotics Systems in Space.- A Robotics Task Scheduler - TAPAS.- Mobile Mini-Robots For Space Application.- Teleagents for Exploration and Exploitation in Future Human Planetary Missions.- An Expandable Mechanism for Deployment and Contact Surface Adaptation of Rover Wheels.- A New Traction Control Architecture for Planetary Exploration Robots.- The Lemur II-Class Robots for Inspection and Maintenance of Orbital Structures: A System Description.- Lemur IIb: a Robotic System for Steep Terrain Access.- Tele-operation, Social and Economic Aspects.- Virtual Immersion for Tele-Controlling a Hexapod Robot.- Economic Prospects for Mobile Robotic Systems, New Modular Components.