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Advances in mobile robotics : proceedings of the Eleventh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Coimbra, Portugal, 8-10 September 2008 /
This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. It contains peer-reviewed articles presented at the CLAWAR 2008 conference. Robots are no longer confined to industrial manufacturing...
| Clasificación: | Libro Electrónico |
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| Autor Corporativo: | |
| Otros Autores: | |
| Formato: | Electrónico Congresos, conferencias eBook |
| Idioma: | Inglés |
| Publicado: |
Singapore ; Hackensack, N.J. :
World Scientific Pub. Co.,
©2008.
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| Temas: | |
| Acceso en línea: | Texto completo |
Tabla de Contenidos:
- Section-1. Plenary presentations. Development of dance partner robot -PBDR- / K. Kosuge. From micro to nano robotics / B. Nelson. Adhesion techniques for climbing robots: state of the art and experimental considerations / D. Longo and G. Muscato
- Section-2. Autonomous robots. Balance control of a TWRM with a static payload / K. M. K. Goher and M. O. Tokhi. Balance control of a TWRM with a dynamic payload / K. M. K. Goher and M. O. Tokhi. A cooperative climbing robot for melt weld inspection on large structures / J. Shang ... [et al.]. Power analysis and structure optimization in the design of a humanoid robot / L. Wang ... [et al.]. Detection and clustering of the erroneous torques developed in the femur joint of a walking robot / A. Vitko ... [et al.]. A modular mobile self-reconfigurable robot / M. Zhong ... [et al.]. Localizing from multi-hypotheses states minimizing expected path lengths for mobile robots / K. Hemanth ... [et al.]. Design of new modular walking robot MERO / I. Ion. Behavior network control for a holonomic mobile robot in realistic environments / M. Göller ... [et al.]. RFID transponder barriers as artificial landmarks for the semantic navigation of autonomous robots / M. Göller ... [et al.]. Development of predictive models of climbing robot attachment mechanisms for an energy-efficient adaptive control scheme / S. A. Jacobs and A. A. Dehghani-Sanij. Merging topological maps for localisation in large environments / F. Ferreira, J. Dias and V. Santos
- Section-3. Benchmarking and standardization. ISO standards for service robots / G. S. Virk, S. Moon and R. Gelin. The replication of experiments and the performance evaluation in Clawar system research / F. P. Bonsignorio. A scalable benchmark for motion control of mobile robots / A. Marjovi and L. Marques. Benchmarking of the robot design process / G. S. Virk
- Section-4. Biologically-inspired systems and solutions. A neural network architecture for progressive learning of robotic grasps / J. Molina-Vilaplana and J. Lopez-Coronado. GRACE
- Generic robotic architecture to create emotions / T. H. H. Dang, S. L. Zarshenas and D. Duhaut. Biornimetic approach for tortoise-like robot modeling and control / H. El Daou ... [et al.]. Application of smart materials
- bionics modular adaptive implant / N. G. Bîzdoacă ... [et al.]. Kinematics and kinetics analysis of rectilinear locomotion gait / A. Ghanbari ... [et al.]. INSPIRAT
- towards a biologically inspired climbing robot for the inspection of linear structures / J. Maempel ... [et al.]. Control of the multi-track type robot inspired from antennae of a centipede / T. Chung. Implementation of analog controller based on biological nervous system for biomimetics walking robot / S. H. Kim, T. H. Kang and J.-H. Cho. On the design of walking machines using biarticulate actuators / T. J. Klein, T. M. Pham and M. A. Lewis. Modelling and design of IPMC devices / I. Chochlidakis, G. S. Virk and A. Dehghani-Sanji. Modelling and design of IPMC devices / I. Chochlidakis, G. S. Virk and A. Dehghani-Sanji. Analysis, simulation and implementation of a human inspired pole climbing robot / A. Sadeghi, H. Moradi and M. N. Ahmadabadi. A comparison study on pneumatic muscles and electrical motors using the 3DCLIMBER as a case study / M. Tavakoli, L. Marques and A. T. de Almeida
- Section-5. Biomedical robotic assistance. Impact of upper body effort in FES-assisted indoor rowing exercise / Z. Hussain, M. O. Tokhi and S. Gharooni. GA-tuned fuzzy logic control for FES-assisted indoor rowing exercise / Z. Hussain ... [et al.]. Compliant control of FES-rowing with energy store and release mechanism / S. Sareh ... [et al.]. An electrode array design for use with a multichannel functional electrical stimulator / N. Sha ... [et al.]. Body-weight-supported treadmill locomotion with spring brake orthosis / M. S. Huq and M. O. Tokhi
- Section-6. Climbing, guidance and navigation. Structure and model identification of a vortex-based suction cup / F. Bonaccorso ... [et al.]. CROMSCI
- a climbing robot with multiple sucking chambers inspection tasks / C. Hillenbrand, D. Schmidt and K. Berns. Magnetic wheeled robot with high mobility but only 2 DOF to control / W. Fischer ... [et al.]. A climbing rescue robot / L. Rimassa, M. Zoppi and R. Molfino. Evolution and perspectives of climbing robots at the industrial automation institute. Lessons learned and new directions / M. A. Armada ... [et al.]. Efficient sensor-based path planning for landmine location using walking robots / A. Ramos ... [et al.]. Sniffing a fire: simulated experiments in a reduced scale scenario / P. Oliveira, L. Marques and A. T. de Almeida
- Section-7. Flexible mechanisms for mobile machines. Rolling locomotion of a deformable soft robot with built-in power source / Y. Matsumoto, H. Nakanishi and S. Hirai. Jumping via robot body deformation
- mechanics and mechanism for higher jumping / M. Miyazaki and S. Hirai. Augmented control scheme for input tracking and vibration suppression of flexible manoeuvring systems: experimental investigations / F. M. Aldebrez and M. O. Tokhi. A robotic catapult based on the closed elastic a with a high stiffness endpoint and its application to impulsive swimming robot / M. Watari ... [et al.]. A robotic catapult based on the closed elastica with an anisotropic stiffness point and its application to compact continuous jumping robot / A. Yamada ... [et al.]. Quasi-static energy analysis of the robotic catapult based on the closed elastica / H. Mochiyama, A. Yamada and H. Fujimoto
- Section-8. Flexible maneuvering systems. Modelling and control of an overhead crane with 3DOF / O. A. A. Shaebi and M. O. Tokhi. Impact of the hook attachment mechanism on control of an overhead crane / O. A. A. Shaebi and M. O. Tokhi. Genetic algorithm optimization of PID controller for a flexible manipulator / B. A. M. Zain and M. O. Tokhi. Genetic optimisation of ANFIS network for modelling of a TRMS / S. F. Toha, M. O. Tokhi and Z. Hussain. Control of a single
- link flexible arm to be used as a sensing antenna / J. G. Fernández and V. F. Batlle. Augmented control scheme for input tracking and vibration suppression of flexible manoeuvring systems: simulation studies / F. M. Aldebrez and M. O. Tokhi. Output feedback nonlinear model predictive control of a twin rotor mimo system / A. Rahideh and M. H. Shaheed
- Section-9. Human-machine interface, tele-presence and virtual reality. Intuitive human-robot cooperation / H. Woern and A. J. Schmid. The influence of human factors on task performance: a linear approach / Y. Catsoulis, G. S. Virk and A. A. Dehghani. Brain computer interface approaches to control mobile robotic devices / G. Pires, U. Nunes and M. Castelo-Branco. Stereo camera based head orientation estimation for real-time system / Y.-O. Kim and S. Jun. Humanoid robot game: a mixture of vr and teleoperation / T. Juhász and L. Vajta. EXOSTATION: 7-DOF haptic control chain featuring an arm exoskeleton and virtual reality tools / P. Letier ... [et al.]
- Section-10. Innovative design of CLAWAR. Dexterous energy-autarkic climbing robot / W. Brockmann ... [et al.]. Wall climbing robotic system and noise control for reconnaissance purpose / P. Wang ... [et al.]. Design of climbing cleaning robot for vertical surfaces / T. Akinfiev, M. Armada and S. Nabulsi. Design of wheeled climbing robot with changeable structure / T. Akinjiev, R. Fernandez and M. Armada. Climbing ring robot for inspection of offshore wind turbines / H. Leon-Rodriguez, B. Bridge and T. P. Sattar
- Section-ll. Inspection and non-destructive testing. On the mechanized inspection of glass fiber plastic pipes and pipe joints / P. Chatzakos ... [et al.]. Remote automated non-destructive testing (NDT) weld inspection on vertical surfaces / S. C. Mondal ... [et al.]. Can semantics help autonomous service robots in inspecting complex environments? / M. Ziegenmeyer ... [et al.].
- Robotic system for inspection of test objects with unknown geometry using NDT methods / A. A. Brenner and T. P. Sattar. A proposed wall climbing robot for oil tank inspection / R. Fernández-Rodríguez, V. Feliu and A. Gonzalez-Rodríguez. Underwater wall climbing robot for nuclear pressure vessel inspection / H. E. Leon-Rodriguez, T. Sattar and J. Shang. Amphibious inspection robot / T. P. Sattar, H. E. Leon-Rodriguez and J. Shang
- Section-12. Locomotion. Stable upright walking and running using a simple pendulum based control scheme / H. M. Maus, J. Rummel and A. Seyfarth. From biomechanical concepts towards fast and robust robots / D. Renjewski ... [et al.]. From hopping to walking-how the biped Jena-walker can learn from the single-leg Marco-hopper / K. T. Kalveram, D. Hdufle and A. Seyfarth. Initiating normal walking of a dynamic biped with a biologically motivated control / T. Luksch and K. Berns. Motion design for an insectomorphic robot on unstable obstacles / Y. F. Golubev and V. V. Korianov. The effect of leg segmental proportions on the energetic cost of robotic locomotion / P. Chatzakos and E. Papadopoulos. Sliding mode attitude control of a six-legged robot in consideration of actuator dynamics / H. Uchida and K. Nonami. Generation method of feedback control input of leg link using an attitude sensor for a six legged robot consisting of one link / H. Uchida, Y. Shimizu and S. Nakayama. Simple intuitive method for a planar biped robot to walk / G. Chung. Obstacle avoidance strategy for biped robot based on fuzzy q-learning / C. Sabourin ... [et al.]. Adaptive locomotion for a hexagonal hexapod robot based on a hierarchical Markov decision process / G. Cuaya-Simbro and A. Muñoz-Meléndez. Walking gait control for making smooth locomotion mode change of a legged and wheeled robot / T. Okada, W. T. Botelho and T. Shimizu. The DLR-crawler: gaits and control of an actively compliant hexapod / M. Goerner and G. Hirzinger.
- Developing fast bipedal locomotion method for inclined floors / A. Eshghinejad and M. Keshmiri. Behaviour-based control of the six-legged walking machine LAURON IVc / T. Kerscher ... [et al.]. Particle swarm optimization for humanoid walking-gaits generation / N. Rokbani, E. Ben Boussada and A. M. Alimi. Mechanism for variable transformation shapes of a single-tracked mobile structure / J. Kim and C. Lee. Optimal posture control for force actuator based articulated suspension vehicle for rough terrain mobility / V. P. Eathakota ... [et al.]. Adaptive stair-climbing behaviour with a hybrid legged-wheeled robot / M. Eich, F. Grimminger and F. Kirchner. Stability control of a hybrid wheel-legged robot using the potential field approach / G. Besseron ... [et al.]. Logic-based automatic locomotion mode control of a wheel-legged robot / I. Leppänen, P. Virekoski and A. Halme
- Section-13. Manipulation and gripping. Motion planning to catch a moving object / J. Serrano ... [et al.]. Teleoperation of a manipulator with a master robot of different kinematics: using bilateral control by state convergence / C. Peña ... [et al.]. Influence of the sampling strategy on the incremental generation of the grasp space / M. A. Roa, R. Suarez and J. Rosell. Robot-human cooperation holding and handling a piece of fabric / P. N. Koustoumpardis and N. A. Aspragathos. A sub [symbol]1000 robot hand for grasping
- design, simulation and evaluation / J. E. Tegin, J. Wikander and B. Iliev. Improving manipulation capabilities by means of radio frequency identification and computer vision / J. Sales ... [et al.]. A cooperative gripper for handling and hanging limp parts / E. Carca, M. Zoppi and R. Molfino. Robust grasping of 3D objects with stereo vision and tactile feedback / B. J. Grzyb ... [et al.]. Bond graph modeling of soft contact for robotic grasping / A. Khurshid and A. Ghafoor. Optimum size of a soft-finger contact in robotic grasp / A. Ghafoor and J. S. Dai. Tactile sensing methods for automated blood samples on humans / A. S. Sørensen ... [et al.]
- Section-14. Modeling and simulation of CLAWAR. Study of a vibration driven hopping robot / S. Jatsun, V. Dyshenko and A. Yatsun. Computational cost of two forward kinematic models for a S-G based climbing robot / M. Almonacid ... [et al.]. RobuDOG's design, modelling and control / P. Bidaud ... [et al.]. Walking robot "ANTON": design, simulation, experiments / M. Konyev ... [et al.]. A nonlinear model for simulating contact and collision / D. A. Jacobs and K. J. Waldron. Using nonlinear oscillators to create a pattern generator of bipedal locomotion / A. C. de Pina Filho and M. S. Dutra. Internet 3.0 for the simulation of networked clawar systems / F. P. Bonsignorio
- Section-15. Perception, sensing and sensor fusion. Application of lateral obstacle sensor in following contours for terrain recognition tasks / R. Ponticelli and P. Gonzalez de Santos. True ground speed measurement, a novel optical approach / V. Kálman and T. Takács. Simple optoelectronic exteroceptive sensor for the control of the dynamic equilibrium of a walking robot / E. Král. Analysing human-robot interaction using omni-directional vision and structure from motion / C. Salinas and M. A. Armada. Six DOF sensory system for the force-torque control of walking humanoid / M. Kvasnica. kheNose
- a smart transducer for gas sensing / J. Pascoal, P. Sousa and L. Marques
- Section-16. Personal assistance. FES-assisted cycling with quadriceps stimulation and energy storage / B. S. K. K. Ibrahim ... [et al.]. Modelling and simulation of sit-to-stand in humanoid dynamic model / S. C. Gharooni, M. Joghtaei and M. O. Tokhi. A new gravity compensation system composed of passive mechanical elements for safe wearable rehabilitation system / T. Nakayama, T. Asahi and H. Fujimoto. A robotic walker with standing, walking and seating assistance / D. Chugo ... [et al.]. Step climbing of a four-wheel-drive omnidirectional wheelchair / M. Wada. Steering control of wheelchair on two wheels / S. Ahmad, M. O. Tokhi and K. M. K. Goher
- Section-17. Planetary exploration and localization. Development of an underground explorer robot based on an earthworm's peristaltic crawling / H. Omori, T. Nakamura and T. Yada. Mechanical and electrical design of a two segmental eight-legged mobile robot for planetary exploration / B. Ugurlu ... [et al.]. Visual odometry technique using circular marker identification for motion parameter estimation / S. Chhaniyara, K. Althoefer and L. D. Seneviratne
- Section-18. Planning and control. Single view depth estimation based formation control of robotic swarms: implementation using realistic robot simulator / V. Gazi, B. Fidan and S. Zhai. Mechanical design and motion planning of a modular reconfigurable robot / A. H. H. A. Memar, P. Z. H. Bagher and M. Keshmiri. Approximation control of a differential-drive mobile robot / H. Marin-Reyes and M. O. Tokhi. Experimental study on track-terrain interaction dynamics in an integrated environment: test rig / S. Al-Milli ... [et al.]. A step toward autonomous pole climbing robots / M. Tavakoli ... [et al.]
- Section-19. Service robots. Development of the riding robot like as a horse and motion control for the healthcare and entertainment / M. Lim and J. Lim. Climbing robots: a survey of technologies and applications / M. F. Silva and 1. A. T. Machado. UNIFIER
- unified robotic system to service solar power plants / R. Azaiz. A feasibility study for energy autonomy in multi robot search and rescue operations / Y. Sindi ... [et al.]. Person following with a mobile robot using a modified optical flow / A. Handa ... [et al.]. Development of a simulation environment of an entertainment humanoid robot doing a handstand on a high bar / P. Teodoro ... [et al.]
- Section-20. Workshop on humanoid robotics. Selecting and learning multi-robot team strategies / M. M. Veloso. Fractional calculus: application in control and robotics / J. A. T. Machado. Development and gait generation of the biped robot stepper-senior / Y. Liu ... [et al.]. A deterministic way of planning and controlling biped walking of LOCH humanoid robot / M. Xie ... [et al.]. Inverse dynamics modelling for humanoid robots based in Lie groups and screws / M. Arbulu and C. Balaguer. Human-humanoid robot cooperation in collaborative transportation tasks / M. Arbulu and C. Balaguer. A convex optimization approach for online walking pattern generation / R. Xiong ... [et al.]. Energy-efficient humanoid walking with ankle actuation: learning from biomechanics / R. Versluys ... [et al.]. A fall down resistant humanoid robot with soft cover and automatically recoverable mechanical overload protection / M. Hayashi ... [et al.]. Retargeting system for a social robot imitation interface / J. P. Bandera ... [et al.]. Realistic humanoid robot simulation with an optimized controller: a power consumption minimization approach / J. L. Lima ... [et al.]. A Lie group formulation for realtime ZMP detection using force/torque sensor / L. Zhang, C. Zhou and R. Xiong. Visual tracking on an autonomous self-contained humanoid robot / M. Rodrigues, F. Silva and V. Santos. Pose estimation for grasping preparation from stereo ellipses / G. Saponaro and A. Bernardino.