Robotics for Sustainable Future: Clawar 2021

ISBN-13: 9783030862930 / Angielski / Miękka / 2021 / 510 str.

Daisuke Chugo; Mohammad Osman Tokhi; Manuel F. Silva

Spis treści

Section–1: Biped Locomotion

Studying the two-legged walking system with video capture methods

Stacked Modulation Architecture for Simultaneous Exploration and Navigation of a Biped Robot

Continuous inverse kinematics in singular position

Analysis of biped robot on uneven terrain based on feed-forward control

Section–2: Human-Machine / Human-Robot Interaction

The spherical pedal control device for omni-directional mobile robot operation

Modelling of pedestrians crossing a crosswalk and robot navigation based on its characteristics

Section–3: Innovative Actuators and Power Supplies

A low-cost, lightweight, and compliant leg structure for terrestrial and aquatic walking robots

Design and modelling of a modular robotic joint

Section–4: Innovative Design of CLAWAR

The flatworm-like pedal locomotory robotwormesh-II: fundamental properties of pedalwave locomotion

Experimental investigation of locomotive efficiency of a soft robotic eel with a largely passive body

Non-assembly walking mechanism for robotic in-pipe inspection

Improved energy efficiency via parallel elastic elements for the straight-legged vertically-compliant robot SLIDER

Section–5: Inspection

Residual water removal mechanism for obtaining clear images with sewer pipe inspection robot

Wireless communication with mobile inspection robots operating while submerged inside oil storage tanks

Climbing robot to perform radiography of wind blades

Section–6: Legged Locomotion

Simulation-based climbing capability analysis for quadrupedal robots

Six-legged robot overturn from an emergency position on the back under the Influence of hindrance

Passive gripping foot for a legged robot to move over rough terrain

Enhancing legged robot navigation of rough terrain via tail tapping

Section–7: Modelling and Simulation of CLAWAR

ClimbLab: MATLAB simulation platform for legged climbing robotics

Modeling and motion analysis of planar passive-dynamic walker with tensegrity structure formed by four limbs and eight viscoelastic elements

Trajectory planning strategy for the links of a walking human-machine system using a neural network

Passive motion analysis of two identical regular octagonal objects that move on passively vibrating tilted stage

Analysis of passive dynamic gait of tensegrity robot

About the distribution of traction efforts between the propulsion devices of walking robots

Regularities of contact behavior of small supporting elements (feet) of walking machines and robots with weakly bearing and water-saturated soils

Realistic 3D simulation of a hybrid legged-wheeled robot

Section–8: Outdoor and Field Robotics

Semi-autonomous mobile robot for environmental surfaces disinfections against SARS-CoV-2

Horizontal drilling with seabed robotic explorer

Excavation experiment of earth worm type seabed exploration robot in actual sea area

Evaluation of optimal cleaning tools for the development of a cleaning robot for grease from ventilation ducts

Development of automatic operation system considering steering performance for a paddy field weeding robot

Development of the object transfer robot with variable height using a pantograph-type jack system

Section–9: Planning and Control

Learning and transfer of movement gaits using reinforcement learning

Rolling resistance model and control of spherical robot

Automatic generation of random step environment models for Gazebo simulator

The motion control research of the mobile robot with vibrating propulsion device which discretely interacting with the supporting surface

Experimental investigations of the controlled motion of the roller racer robot

Generation of the self-motion manifolds of a functionally redundant robot using multi-objective optimization

Section–10: Wearable Devices and Assistive Robotics

Evaluation method of gait motion of a patient received total knee arthroplasty using correlation between measurement data and evaluation score

Lightweight locomotion assistant for people with mild disabilities

Possibility of getting on/off public vehicle by manual wheelchair with 4 degrees of freedom contact arm mechanism

Blurb

This book presents the proceedings of 24th International Conference Series on Climbing and Walking Robots. CLAWAR 2021 is the twenty-fourth edition of International Conference series on Climbing and Walking Robots and the Support Technologies for Mobile Machines. The conference is organized by CLAWAR Association in collaboration with Kwansei Gakuin University on a virtual platform in Takarazuka, Japan, during 30 August–01 September 2021.

CLAWAR 2021 brings new developments and new research findings in robotics technologies within the framework of “Robotics for Sustainable Future”. The topics covered include biped locomotion, human–machine/human–robot interaction, innovative actuators, power supplies and design of CLAWAR, inspection, legged locomotion, modelling and simulation of CLAWAR, outdoor and field robotics, planning and control, and wearable devices and assistive robotics.

The intended readership includes participants of CLAWAR 2021 conference, international robotic researchers, scientists, professors of related topics worldwide, and professors and students of postgraduate courses in Robotics and Automation, Control Engineering, Mechanical Engineering, and Mechatronics.