Robotics for sustainable future : CLAWAR 2021

Forward
Preface
Acknowledgements
CLAWAR’2021 Conference Organization
	General Co-chairs
	International Scientific Committee Co-chairs
	International Advisory Committee Chair
	National Organizing Committee Chair
	National Organizing Committee
	Publications Co-chairs
	Special/Workshop Sessions Chair
	Local Arrangements Chair
	Publicity Co-chairs
	Website Chair
	International Scientific Committee
Contents
List of Contributors
List of Abbreviations
Section–1: Biped Locomotion
Studying the Two-Legged Walking System with Video Capture Methods
	1 Introduction
	2 Trajectory Construction
	3 Trajectory Smoothing
	4 Trajectory Polynomization
	5 Solution of the Inverse Problem of Apparatus Kinematics
	6 Results and Their Discussion
	7 Conclusions
	References
Stacked Modulation Architecture for Simultaneous Exploration and Navigation of a Biped Robot
	1 Introduction
	2 From Subsumption to Stacked Modulation Architecture
		2.1 Review of Subsumption Architecture
		2.2 Stacked Modulation Architecture
	3 Example: SEAN System for a Biped Robot
	4 Conclusion
	References
Continuous Inverse Kinematics in Singular Position
	1 Introduction
	2 Iterative Damped Least Square Approximation
	3 Using the Gradient Derivative to Break Out of Singular Positions
	4 Continuous, Weighted Inverse Kinematics
	5 Continuous Inverse Kinematics on the Planar Robotic Leg Carl
	6 Conclusion and Outlook
	References
Analysis of Biped Robot on Uneven Terrain Based on Feed-Forward Control
	References
Section–2: Human-Machine/Human-Robot Interaction
The Spherical Pedal Control Device for Omni-Directional Mobile Robot Manipulation
	1 Introduction
	2 Mechanical Design
	3 System Configuration
	4 Derivation of Operating Volume
	5 Experiment
		5.1 Basic Experiment for Restoring Force
		5.2 Evaluation of the Operability
	6 Results and Discussion
		6.1 Results for Basic Experiment for Restoring Force
		6.2 Results for Evaluation of the Operability
	7 Conclusion
	References
Modelling of Pedestrians Crossing a Crosswalk and Robot Navigation Based on Its Characteristics
	1 Introduction
	2 Pedestrian Model on a Crosswalk
		2.1 Investigation of Walking Rules on Crosswalks
		2.2 Implementation of the Pedestrian Model
		2.3 Computer Simulation
	3 Robotic Navigation Based on a Pedestrian Model
		3.1 Overview of Our Proposed Navigation Scheme
		3.2 Potential Based Robot Navigation Scheme
	4 Experiment
		4.1 Computer Simulation
		4.2 Experiment with Our Prototype
	5 Conclusion
	References
Section–3: Innovative Actuators and Power Supplies
A Compliant Leg Structure for Terrestrial and Aquatic Walking Robots
	1 Introduction
	2 A Low-Cost, Lightweight, and Compliant Leg Structure for Terrestrial and Aquatic Walking Robots
		2.1 Improving Dynamics and Impact Mitigation Capability
		2.2 Environmental Resistant Joint Mechanisms
		2.3 Analysing Leg Behaviour and Operational Life
	3 Results
		3.1 Angular Joint Torque and Resistance
		3.2 Axial Deflections
		3.3 Accelerated Ageing
	4 Discussion
	5 Conclusion
	References
Design and Modelling of a Modular Robotic Joint
	1 Introduction
	2 Related Work
	3 System Architecture
	4 Modular Joint Design
		4.1 Modular Joint Mechanical Design
		4.2 Modular Joint Production
		4.3 Modular Joint Connection
		4.4 Modular Joint Electronics
	5 Joint Control
		5.1 PD Position Controller
		5.2 PI Speed Controller with Inverse Dynamic Feedforward
		5.3 Cascade PID Controller with Dead Zone Compensation
	6 Results
		6.1 Architectural Results
		6.2 Performance Results
	7 Conclusion
	References
Section–4: Innovative Design of CLAWAR
The Flatworm-Like Pedal Locomotory Robot WORMESH-II: Fundamental Properties of Pedal Wave Locomotion
	1 Introduction
	2 WORMESH-II: A Flatworm-Like Robot with a Mesh Structure
		2.1 Mechanical Configuration
		2.2 Pedal Wave Generation
	3 Cyclic Pedal Wave Locomotion Mechanism
		3.1 Analysis of Basic Waveform
		3.2 Result and Discussion
	4 Locomotion in Different Environments
		4.1 Cyclic Pedal Wave Locomotion in Different Friction Conditions
		4.2 Adaptive Pedal Wave Locomotion Between the Transition Friction Surface
	5 Conclusions
	References
Experimental Investigation of Locomotive Efficiency of a Soft Robotic Eel with a Largely Passive Body
	1 Introduction
	2 Swimming Strategies of Soft Eel-Inspired Robot
		2.1 Design of the Soft Eel Robot
		2.2 Swimming Strategies
		2.3 Soft Eel Robot with a Large Passive Body
	3 Results
		3.1 Swimming Velocity
		3.2 Cost of Transport and Swimming Efficiency
	4 Discussion
	5 Conclusion
	References
Non-assembly Walking Mechanism for Robotic In-Pipe Inspection
	1 Introduction
	2 Walking Robot Design
		2.1 Control System Design Overview
		2.2 Walking Mechanism Design
	3 3D Printing and Assembly
		3.1 Modifications for Non-assembly Printing
		3.2 Robot Assembly
	4 Robot Performance
		4.1 Discussion
	5 Conclusion
	References
Improved Energy Efficiency via Parallel Elastic Elements for the Straight-Legged Vertically-Compliant Robot SLIDER
	1 Introduction
	2 The Design of Vertical Prismatic Joint
		2.1 Design of the Vertical Prismatic Joint
	3 Characteristics of the Bungee Cord
		3.1 Model of the Bungee Cord
		3.2 Attaching Bungee Cords in Parallel
	4 Finding Optimal Energy-Efficient Configuration Using Bayesian Optimization
		4.1 Evaluation of Energy Consumption
		4.2 Bayesian Optimization for Finding Optimal Energy Efficient Motion
	5 Experiments
	6 Conclusions and Future Work
	References
Section–5: Inspection
Residual Water Removal Mechanism for Obtaining Clear Images with Sewer Pipe Inspection Robot
	1 Introduction
	2 Design
		2.1 Requirement Specification
		2.2 Design Requirements
	3 Development
		3.1 Pipe Inspection Robot PEW-RO V
		3.2 Traveling Instructions for PEW-RO V
		3.3 Water Suction Pump
		3.4 Water Suction Unit
	4 Experiment
		4.1 Basic Water Suction Pump Experiment
		4.2 Experiment for Passage Through Curved Pipes
		4.3 Functional Verification Experiment of the Water Suction Unit
	5 Conclusion
	References
Wireless Communication with Mobile Inspection Robots Operating While Submerged Inside Oil Storage Tanks
	1 Introduction
	2 Electromagnetic Wave Absorption and Dispersion Through Petroleum Products and Other Medium
	3 Calculation of Propagation Path Loss in Petroleum and Vegetable Oil
	4 Simulation Results of Electromagnetic Wave Propagation in Different Mediums
		4.1 Simulation Results 3D Radiation Pattern
		4.2 Simulation Results Time Domain Electric Field
	5 Experimental Results
	6 Conclusion and Future Work
	References
Climbing Robot to Perform Radiography of Wind Blades
	1 Introduction
		1.1 Business Need for Inspection of Wind Blades
		1.2 Robotic Solutions to Wind Blade Inspection
		1.3 The RADBLAD Robot
	2 The RADBLAD System
		2.1 The Climbing Robot
		2.2 Power Supply Circuit
		2.3 Pneumatic Supply Circuit
		2.4 Communications Bus (CAN-Bus)
	3 Control System
		3.1 Control Architecture
		3.2 Control Scheme
		3.3 Testing the CRAWLER Control System
	4 Conclusions
	References
Section–6: Legged Locomotion
Simulation-Based Climbing Capability Analysis for Quadrupedal Robots
	1 Introduction
		1.1 Related Work
		1.2 Contribution
	2 Method
		2.1 Multiaspect Evaluation
		2.2 Robot Model
		2.3 Simulation Setup
	3 Results
		3.1 Nominal Stance Analysis
		3.2 Static Analysis
		3.3 Dynamic Climbing Analysis
	4 Conclusion
	References
Six-Legged Robot Overturn from an Emergency Position on the Back Under the Influence of Hindrance
	1 Introduction
	2 Formulation of the Model Problem
	3 Rocking the Robot on Its Back
	4 Conclusions
	References
Passive Gripping Foot for a Legged Robot to Move Over Rough Terrain
	1 Introduction
	2 Design of Passive Gripping Foot
		2.1 3D Models of the Gripping Foot
		2.2 Assembled Prototype
	3 Ground Grasping Mechanism and Static Force Analysis
		3.1 Mechanism of Grasping and Releasing the Ground Bump
		3.2 Static Force Analysis
		3.3 Verification of Grasping Force
	4 Experimental Analysis of the Performance on Rugged Slope Movement
	5 Conclusion
	References
Enhancing Legged Robot Navigation of Rough Terrain via Tail Tapping
	1 Introduction
	2 Materials and Methods
	3 Results
	4 Discussion
	5 Conclusion
	References
Section–7: Modelling and Simulation of CLAWAR
ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics
	1 Introduction
		1.1 Related Work
		1.2 Contribution
	2 ClimbLab
	3 Application Examples
		3.1 Simulation (1) – A Robot Holding onto a Cliff
		3.2 Simulation (2) – Gait Analysis for Quadrupedal Robotic Climbing
		3.3 Simulation (3) – Sensing and Optimal Footholds Selection
	4 Conclusion
	References
Modeling and Motion Analysis of Planar Passive-Dynamic Walker with Tensegrity Structure Formed by Four Limbs and Eight Viscoelastic Elements
	1 Introduction
	2 Modeling
		2.1 Model Assumptions
		2.2 Equation of Motion
		2.3 Holonomic Constraint Condition
		2.4 Collision Equation
	3 Passive Dynamic Walking only with Elasticity
	4 Stable Passive Dynamic Walking by Addition of Viscosity
		4.1 Equation of Motion with Viscous Force Term
		4.2 Gait Analysis
	5 Conclusion and Future Work
	References
Trajectory Planning Strategy for the Links of a Walking Human-Machine System Using a Neural Network
	1 Introduction
	2 Object and Task Statement Description
	3 Neural Network Model and Training Description
	4 Comparative Analysis of Methods for Setting the Trajectory of the Executive Links of the Exoskeleton
	5 Conclusions
	References
Passive Motion Analysis of Two Identical Regular Octagonal Objects That Move on Passively Vibrating Tilted Stage
	1 Introduction
	2 Modeling
		2.1 Model Assumptions and Equations of Motion
		2.2 Holonomic Constraint Conditions
		2.3 Collision Equations
	3 Motion Analysis
		3.1 Typical Motions
		3.2 Initial Value Sensitivity
		3.3 Effect of Viscosity
	4 Conclusion and Future Work
	References
Analysis of Passive Dynamic Gait of Tensegrity Robot
	1 Introduction
	2 Mathematical Modeling
	3 Numerical Analysis
		3.1 Gait Generation
		3.2 Gait Analysis
	4 Conclusion and Future Work
	References
About the Distribution of Traction Efforts Between the Propulsion Devices of Walking Robots
	1 Introduction
	2 Formulation of the Problem
	3 Solution Method
	4 Control of the Translational Motion of a Rigid Body by Two Drives Based on DC Motors with Cable Propulsion Devices
	5 Conclusion
	References
Regularities of Contact Behavior of Small Supporting Elements (Feet) of Walking Machines and Robots with Weakly Bearing and Water-Saturated Soils
	1 Introduction
	2 Materials and Methods
	3 Results and Discussion
	4 Conclusion
	References
Realistic 3D Simulation of a Hybrid Legged-Wheeled Robot
	1 Introduction
	2 State of the Art
	3 Robot Description
		3.1 Locomotion System
		3.2 Robotic Platform
	4 Simulation
		4.1 Validation
	5 Results
	6 Conclusions and Future Work
	References
Section–8: Outdoor and Field Robotics
Semi-autonomous Mobile Robot for Environmental Surfaces Disinfections Against SARS-CoV-2
	1 Introduction
	2 Description of the Robotic System
		2.1 Mechanical System Description
		2.2 Electronic Hardware and Sensorial System Description
	3 Control Architecture
	4 Experimental Test
	5 Conclusions
	References
Horizontal Drilling with Seabed Robotic Explorer
	1 Introduction
	2 Concept of SEAVO II Excavation Robot
	3 Horizontal Excavation
		3.1 Differences Between Horizontal and Vertical Drilling
		3.2 Anticipated Challenges in Horizontal Drilling
		3.3 Mechanical Model of Horizontal Drilling
	4 Horizontal Drilling Experiment
		4.1 Aim of Experiment
		4.2 Experimental Method
		4.3 Results and Discussion
	5 Conclusion
	References
Excavation Experiment of Earth Worm Type Seabed Exploration Robot in Actual Sea Area
	1 Introduction
	2 SEAVO II: Earth Worm Type Seabed Exploration Robot
		2.1 Driving and Excavating Method of the SEAVO II
		2.2 Water Resisting Modification of the SEAVO II
	3 Sand Ground Vertical Excavation Experiment
		3.1 Experimental Field
		3.2 Method
		3.3 Result and Discussion
	4 Gravel Ground Vertical Excavation Experiment
		4.1 Method
		4.2 Result and Discussion
	5 Underwater Vertical Excavation Experiment
		5.1 Method
		5.2 Result and Discussion
	6 Sand Ground Horizontal Drilling Experiment
		6.1 Method
		6.2 Result and Discussion
	7 Conclusion
	References
Evaluation of Optimal Cleaning Tools for the Development of a Cleaning Robot for Grease from Ventilation Ducts
	1 Introduction
	2 Requirement Specification of the Robot
	3 Development Model for the Robot
		3.1 Model of the Cleaning Mechanism
		3.2 Cleaning Mechanism of Brush
	4 Preparation of the Grease Samples for the Cleaning Experiment
	5 Grease-Cleaning Experiment for the Evaluation of Cleaning Tools
		5.1 Experimental Methods
		5.2 Results and Discussion
	6 Conclusion
	References
Development of Automatic Operation System Considering Steering Performance for a Paddy Field Weeding Robot
	1 Introduction
	2 Overview of Weeding Robot
	3 Autorun Control System
		3.1 Control System
		3.2 Overview of GNSS Sensor
	4 Confirmation of Motion Performance for the Weeding Robot and Work Path Planning
		4.1 Motion Performance of the Weeding Robot
		4.2 Work Path Planning
	5 Experiments of Autorun
	6 Conclusion
	References
Development of the Object Transfer Robot with Variable Height Using a Pantograph-Type Jack System
	1 Research Background
	2 Object Transfer with Lifting Mechanism
		2.1 Moving Part
		2.2 Rise and Fall Department
		2.3 Grasping Part
		2.4 Electrical System
	3 Object Grasping by Camera Manipulation
	4 Verification Experiment
		4.1 Verification Experiment of Lifting Mechanism
		4.2 Experiment on Safety During Transferring
		4.3 Verification of Recognition Performance for Object Recognition
	5 Summary
	References
Section–9: Planning and Control
Learning and Transfer of Movement Gaits Using Reinforcement Learning
	1 Introduction
	2 State of the Art
	3 Reinforcement Learning Preliminaries
		3.1 Definitions
		3.2 Deep Reinforcement Learning
	4 Training in Simulation
		4.1 Simulating the 3D Model
		4.2 Applying the Learning Algorithm
	5 Training Results
	6 Transfer to Real World
	7 Conclusion
	References
Rolling Resistance Model and Control of Spherical Robot
	1 Introduction
	2 Equations of Motion of a Pendulum-Driven Spherical Robot on a Horizontal Plane with Rolling Resistance Present
	3 Model of Viscous Rolling Resistance
	4 Control Using Gaits
	5 Experimental Validation of the Model in Case of Acceleration Along a Straight Line
	6 Conclusion
	References
Automatic Generation of Random Step Environment Models for Gazebo Simulator
	1 Introduction
	2 Random Step Environment or Random Stepfield
	3 RSE Generation Tool
	4 Validation of Virtual RSE Models
	5 Conclusions
	References
The Motion Control Research of the Mobile Robot with Vibrating Propulsion Device Which Discretely Interacting with the Supporting Surface
	1 Introduction
	2 Formulation of the Problem
	3 Solution Results
		3.1 «Amplitude» Method of Vibration Control on Walking Propulsion Devices
		3.2 «Frequency» Method of Vibration Control on Walking Propulsion Devices
		3.3 «High-Speed» Method of Vibration Control on Walking Propulsion Devices
	4 Conclusions
	References
Experimental Investigations of the Controlled Motion of the Roller Racer Robot
	1 Introduction
	2 Equations of Motion
	3 Experimental Part
		3.1 Motion Along a Straight Line
		3.2 Movement of the Roller Racer Along a Circle
	4 Conclusions
	References
Generation of the Self-motion Manifolds of a Functionally Redundant Robot Using Multi-objective Optimization
	1 Introduction
	2 IK of Incomplete Orientation Constraints in a Serial Robot
		2.1 Kinematical Redundancy and Self Motion
	3 Topology of Kinematic Map Using MOGA
		3.1 Generation of Self-motions
		3.2 Objective Functions
		3.3 3-R Planar Manipulator Self-motions Generated with MOGA
	4 Analysis, Modeling and Optimization with NACHI Robot
	5 Conclusion
	References
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
	1 Introduction
	2 Evaluation in a Hospital
	3 Evaluation by Movie Camera Images
	4 Evaluation Using Correlation Coefficient
		4.1 Correlation Between the Measurement Values and Evaluation Score
		4.2 Evaluation Using Correlation Coefficient
	5 Conclusion
	References
Lightweight Locomotion Assistant for People with Mild Disabilities
	1 Introduction
	2 Implementation
		2.1 Model of the Robotic Cane
		2.2 Robot Components
		2.3 Robot Prototype
	3 Tests and Results
	4 Conclusions
	References
Possibility of Getting On/Off Public Vehicle by Manual Wheelchair with 4 Degrees of Freedom Contact Arm Mechanism
	1 Introduction
	2 Sorting Out Problems on Railcar
	3 4DOF Arm Mechanism Added on Existing Wheelchair
		3.1 Selection of Linear Actuator
		3.2 Subwheel Mechanism
	4 Control Method for Getting On/off
		4.1 Step Detection by Disturbance Observer
		4.2 Inverse Kinematics Model Considering Postural Maintenance
	5 Experiment
	6 Conclusion
	References
Author Index