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

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