Nature-Inspired Mobile Robotics: Proceedings Of The 16th International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines, 1st Edition

  • Published By: World Scientific Publishing Company
  • ISBN-10: 9814525537
  • ISBN-13: 9789814525534
  • DDC: 629.8932
  • Grade Level Range: College Freshman - College Senior
  • 884 Pages | eBook
  • Original Copyright 2013 | Published/Released January 2015
  • This publication's content originally published in print form: 2013

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The proceedings provide state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and assistive technologies. The proceedings collected together peer reviewed articles presented at the CLAWAR 2013 conference. It contains a strong showing of articles on legged locomotion with numbers of legs from two onwards. There is also a good collection of articles on systems that walls climbing, poles balancing, and other more complex structures following the traditional of CLAWAR themes. In addition, the proceedings also cover the subject of robot-human interaction, which focus on a more human way of communicating with humanoid robots. As for human assistive devices, proceedings also cover exoskeletal and prosthetic devices, robots for personal and nursing cares to address the issues of ageing population in our society. Finally, the issue of the deployment of robots in society, it social and ethically consideration are also addressed in the proceedings.

Table of Contents

Front Cover.
Half Title Page.
Title Page.
Copyright Page.
Conference Organisers.
Conference Committees and Chairs.
Conference Sponsors and Co-Sponsors.
1: Plenary Presentations.
2: Tiramisu: Fp7-project for an Integrated Toolbox in Humanitarian Demining, Focus on UGV, UAV, Technical Survey and Close-in-Detection.
3: Anthropomorphic Biological Equipment.
4: Muscle Coordination of Human Locomotion.
5: Exoskeleton Systems for Medical and Civilian Applications.
6: Assistive Robotics.
7: Optimization-Based Gait Planning for Wearable Power-Assist Locomotor by Specifying Via-Points*.
8: The Designing of the Exoskeleton Leg with Pneumatic Drives.
9: Motion Control Algorithms for an Exoskeleton Equipped with Pneumatic Drives.
10: Development of a Lower Extremity Exoskeleton System for Walking Assistance while Load Carrying.
11: Dynamic Coupling Characteristics of a Semi-Active Knee Prosthesis.
12: Covered Area Detection Based on Brightness Change of Inner Camera Images for Crawler Robot.
13: Actuator with Adjustable-Rigidity and Embedded Sensor for an Active Orthosis Knee Joint.
14: A Personal Robot Integrating a Physically-Based Human Motion Tracking and Analysis.
15: Humanoid Robot Programming through Face Expressions.
16: Dynamics of Human Lower Limbs Using Cga Data and Bsip Predictive Equations.
17: Variable Impedance Control of a Parallel Robot for Ankle Rehabilitation.
18: A Mobile 3d Vision-Based Embedded System for Robust Estimation and Analysis of Human Locomotion.
19: A Simple Load Estimation of a Patient during a Standing Assistance Motion.
20: Exoskeleton for Assisting Human Walking.
21: Hopping Machine: A Tool for Human Running Simulation and for Legged Robots and Exoskeleton Design.
22: Design of a Reconfigurable Wheelchair with a Sit-to-stand Facility for a Disabled Kid.
23: Integrated Design, Modelling and Analysis of Two-Wheeled Wheelchair for Disabled.
24: A Comparison of a Passive and Variable-Damping Controlled Leg Prosthesis in a Simulated Environment.
25: Autonomous Robots.
26: Dodekapod as Universal Intelligent Structure for Adaptive Parallel Spatial Self Moving Modular Robots.
27: Aquatic Multi-Robot System for Lake Cleaning.
28: Hybrid Spiral Dynamic Bacterial Chemotaxis Optimisation for Hybrid Fuzzy Logic Control of a Novel Two Wheeled Robotic Vehicle.
29: Bfa Optimisation of Control Parameters of a New Structure Two Wheeled Robot on Inclined Surface.
30: Biologically-Inspired Systems and Solutions.
31: Compliant Backbones in Mobile Robots.
32: Development of Two Types of Maintenance Robots for a Jacket inside a Mixing Tank.
33: Adaptive Control of Leg Position for Hexapod Robot Based on Somatosensory Feedback and Organic Computing Principles.
34: Implementation of an Adjustable Compliant Knee Joint in a Lower-Limb Exoskeleton.
35: New Propulsion System with Pneumatic Artificial Muscles.
36: Development of a Wall Climbing Robot Using the Mobile Mechanism of Traveling Waves Propagation.
37: Bio-Inspired Elbow Impedance Modulation Using a Compliant Technical Joint Drive.
38: A Resilient Robotic Actuator Based on an Integrated Sensorized Elastomer Coupling.
39: Derivation of Mathematical Models of the Peristaltic Crawling Robot for Maintenance of a Mixing Tank.
40: Improvement of Energy Consumption by Movement of Center of Rotation of Joint.
41: A Simplified Variable Admittance Controller Based on a Virtual Agonist-Antagonist Mechanism for Robot Joint Control.
42: HMI, Inspection and Learning.
43: Determination of Trajectories Using Non-Invasive BCI Techniques in 3D Environments.
44: Development of a Peristaltic Crawling Inspection Robot with Pneumatic Artificial Muscles for a 25a Elbow Pipe.
45: Examination of Surface Feature Analysis and Terrain Traversability for a Wall-Climbing Robot.
46: Development of Humanoid Robot Teaching System Based on a RGB-D Sensor.
47: Innovative Design of Clawar.
48: Development of Worm-Rack Driven Cylindrical Crawler Unit.
49: Unconventional Five-Legged Robot for Agile Locomotion.
50: Climbing Robot Equipped with a Postural Adjustment Mechanism for Conical Poles.
51: Caminante: A Platform for Sensitive Walking.
52: Layered Body for Flexible Mono-Tread Mobile Track.
53: Surface Adaptation Robot for Defect Detection by Performing Continuously an Ultrasound Wheel Probe.
54: Optimal Design of a Magnetic Adhesion for Climbing Robots.
55: Compliant Foot System Design for Bipedal Robot Walking Over Uneven Terrain.
56: New Design of Peristaltic Crawling Robot with an Earthworm Muscular Structure.
57: Hex-Piderix: A Six-Legged WAlking Climbing Robot to Perform Inspection TAsks on VerticAl SurfAces.
58: Locomotion.
59: Reinforcement Learning of Bipedal Lateral Behaviour and Stability Control with Ankle-Roll Activation.
60: Obstacle/gap Detection and Terrain Classification of Walking Robots Based on a 2d Laser Range Finder.
61: Motion Control for the 6-legged Robot in Extreme Conditions*.
62: Development of Hexapod Robot Supported Mechanically Using Pneumatic Rubber Artificial Muscles.
63: Local Reflex Generation for Obstacle Negotiation in Quadrupedal Locomotion.
64: Event Driven Ground-Impedance Identification for Legged Robots.
65: The Turtle, a Legged Submerged Inspection Vehicle.
66: An Actuated Continuous Spring Loaded Inverted Pendulum (Slip) Model for the Analysis of Bouncing Gaits.
67: Design and Prototyping of Active-Suspension-Based 4-legged Running Robot with Anteroposterior Asymmetry in Body.
68: Design of Leaping Behavior in a Planar Model with Three Compliant and Rolling Legs.
69: Walking Despite the Passive Compliance: Techniques for Using Conventional Pattern Generators to Control Instrinsically Compliant Humanoid Robots.
70: A Behavior-Based Library for Locomotion Control of Kinematically Complex Robots.
71: Effects of Neck Swing Motion on the Body Posture of a Four-Legged Robot.
72: Actuator Sizing for Highly-Dynamic Quadruped Robots Based on Squat Jumps and Running Trots.
73: Previewed Impedance Adaptation to Coordinate Upper-Limb Trajectory Tracking and Postural Balance in Disturbed Conditions.
74: A Hip Joint Structure for Biped Robot with Reduced Dof's of Motion.
75: Exploring the Lombard Paradoxon in a Bipedal Musculoskeletal Robot.
76: An Automated System for Systematic Testing of Locomotion on Heterogeneous Granular Media*.
77: Inverse Dynamics for a Quadruped Robot Locomoting along Slippery Surfaces.
78: Lauron V: Optimized Leg Configuration for the Design of a Bio-Inspired Walking Robot.
79: Shuffle Turn of Humanoid Robot Simulation Based on Emg Measurement.
80: Studies of Total Adhesive Force of Multiple Magnetic Wheels for a Climbing Robot.
81: Quantitative Kinematic Performance Comparison of Reconfigurable Leg-Wheeled Vehicles.
82: Enhancing Personal Electric Vehicles Using Reconfigurable Design.
83: Hand-Manoeuvred Wheelchair Using Wheels Fitted with Feet for Enhanced Mobility.
84: Design and Locomotion Modes of a Small Wheellegged Robot.
85: Compliance Contact Control of Mecanum Wheeled Mobile Robot for Improving Safety.
86: Neural Control of a Three-Legged Reconfigurable Robot with Omnidirectional Wheels.
87: The Passive Dynamics of Walking and Brachiating Robots: Results on the Topology and Stability of Passive Gaits.
88: Manipulation and Gripping.
89: Modeling and Analysis of Robotic Grasping Using Soft Fingertips.
90: Force Sensing and Control during Movement and Object Manipulation in Mero Walking Robots.
91: Object Grasping with Dual Robot Manipulator Using Genetic Algorithms.
92: A Novel Hybrid Spiral-Dynamics Random-Chemotaxis Optimization Algorithm with Application to Modelling of a Flexible Robot Manipulator.
93: Modelling and Simulation of Clawar.
94: Modelling of Movement of the Three-Link Robot with Operated Friction Forces on the Horizontal Surface.
95: Transition Analysis of a Biped Poleclimbing Robot — Climbot.
96: Design of SMA Based Actuators Used in Robotics.
97: Finite Element Modelling of the Adhesion System of a Vortex Based Climbing Robot.
98: Development of a Quadruped Robot Model in Simmechanics™.
99: Planning and Control.
100: Model-Based Elastic Tendon Control for Electrically Actuated Musculoskeletal Bipeds.
101: Velocity Control of Serial Elastic Actuator Based on Ekf Estimator and Neural Network.
102: Low-Dimensional User Control of Autonomously Planned Whole-Body Humanoid Locomotion Motion Towards Brain-Computer Interface Applications.
103: State to State Motion Planning for Underactuated Systems Using a Modified Rapidly Exploring Random Tree Algorithm.
104: Biped Walking Over Rough Terrain by Adaptive Ground Reference Map.
105: Positioning, Localization and Perception.
106: Method for Estimating Location and Yaw Angle of a Six-Legged Robot for Omni-Directional Walking Control.
107: Cooperative Multi-Robot Localization with Radio-Based Sensors.
108: Efficiently Using RGB-D Data to Self-Localize a Small Walking Robot in Man-Made Environments.
109: Recognition of 3D Objects for Walking Robot Equipped with Multisense-Sl Sensor Head.
110: Sensing and Sensor Fusion.
111: Human Motion Localization and Interaction Based on Wearable Inertial and Contact Sensors.
112: Real-Time Detection of the Activity of a Dog.
113: Estimation of the Trunk Attitude of a Humanoid by Data Fusion of Inertial Sensors and Joint Encoders.
114: Service Robot Standards and Standardization.
115: Challenges of the Changing Robot Markets.
116: Ofex 2.0 : Database for Performance Evaluation of Object Feature Extraction Algorithms.
117: Ethical Assessment of Robots.
Author Index.