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

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