Climbing and walking robots: proceedings of the 7th International Conference CLAWAR 2004
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| Format: | Electronic Conference Proceeding eBook |
| Language: | English |
| Published: |
Berlin ; Heidelberg ; New York
Springer
2005
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| Subjects: | |
| Online Access: | BTU01 FHR01 Volltext Inhaltsverzeichnis |
| Item Description: | Literaturangaben |
| Physical Description: | 1 Online-Ressource (XXV, 1194 S.) Ill., graph. Darst. |
| ISBN: | 3540229922 9783540229926 9783540294610 |
| DOI: | 10.1007/3-540-29461-9 |
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| 245 | 1 | 0 | |a Climbing and walking robots |b proceedings of the 7th International Conference CLAWAR 2004 |c Manuel Armada ; Pablo González de Santos. [CSIC] |
| 264 | 1 | |a Berlin ; Heidelberg ; New York |b Springer |c 2005 | |
| 300 | |a 1 Online-Ressource (XXV, 1194 S.) |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b c |2 rdamedia | ||
| 338 | |b cr |2 rdacarrier | ||
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| 700 | 1 | |a Armada, Manuel |4 edt | |
| 710 | 2 | |a Consejo Superior de Investigaciones Científicas |e Sonstige |0 (DE-588)36416-2 |4 oth | |
| 711 | 2 | |a International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines |n 7 |d 2004 |c Madrid |j Sonstige |0 (DE-588)6039442-0 |4 oth | |
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Record in the Search Index
| _version_ | 1804137352124170240 |
|---|---|
| adam_text | CONTENTS
PART
I
PLENARY
SESSIONS
ROBOT
VISION:
A
HOLISTIC
VIEW
MING
XIE
.......................................................
3
WHAT
BIPEDAL
HUMAN
LOCOMOTION
CAN
TEACH
US
ABOUT
MOTOR
CONTROL
SYNERGIES
FOR
SAFE
ROBOTIC
LOCOMOTION
D.A.
WINTER
....................................................
39
PROBLEMS
OF
SCALE
FOR
WALKING
AND
CLIMBING
ANIMALS
R.
MCNEILL
ALEXANDER
............................................
47
BIOLOGICALLY
MOTIVATED
CONTROL
OF
WALKING
MACHINES
R.
DILLMANN,
J.
ALBIEZ,
B.
GASSMANN,
T.
KERSCHER
...................
55
PART
II
CONTROL
INTEGER
VS.
FRACTIONAL
ORDER
CONTROL
OF
A
HEXAPOD
ROBOT
MANUEL
F.
SILVA,
J.
A.
TENREIRO
MACHADO,
ANT´ONIO
M.
LOPES
..........
73
SYNCHRONOUS
LANDING
CONTROL
OF
A
ROTATING
4-LEGGED
ROBOT,
PEOPLER,
FOR
STABLE
DIRECTION
CHANGE
T.
OKADA,
Y.
HIROKAWA,
T.
SAKAI,
K.
SHIBUYA
.......................
85
NEURO-CONTROLLERS
FOR
WALKING
MACHINES
-
AN
EVOLUTIONARY
APPROACH
TO
ROBUST
BEHAVIOR
JOERN
FISCHER,
FRANK
PASEMANN,
PORAMATE
MANOONPONG
..............
97
XVI
CONTENTS
DECENTRALIZED
DYNAMIC
FORCE
DISTRIBUTION
FOR
MULTI-LEGGED
LOCOMOTION
T.
ODASHIMA,
Z.W.
LUO
..........................................
103
AN
OUTDOOR
VEHICLE
CONTROL
METHOD
BASED
BODY
CONFIGURATION
INFORMATION
DAISUKE
CHUGO,
KUNIAKI
KAWABATA,
HAYATO
KAETSU,
HAJIME
ASAMA,
TAKETOSHI
MISHIMA
...............................................
113
PHYSICALLY
VARIABLE
COMPLIANCE
IN
RUNNING
JONATHAN
W.
HURST,
ALFRED
A.
RIZZI
................................
123
IMPLEMENTATION
OF
A
DRIVER
LEVEL
WITH
ODOMETRY
FOR
THE
LAURON
III
HEXAPOD
ROBOT
J.L.
ALBARRAL,
E.
CELAYA
..........................................
135
LOCAL
POSITIVE
VELOCITY
FEEDBACK
(LPVF):
GENERATING
COMPLIANT
MOTIONS
IN
A
MULTI-JOINT
LIMB
AXEL
SCHNEIDER,
HOLK
CRUSE,
JOSEF
SCHMITZ
..........................
143
MOTION
CALCULATION
FOR
HUMAN
LOWER
EXTREMITIES
BASED
ON
EMG-SIGNAL-PROCESSING
AND
SIMPLE
BIOMECHANICAL
MODEL
CHRISTIAN
FLEISCHER,
KONSTANTIN
KONDAK,
CHRISTIAN
REINICKE,
G¨UNTER
HOMMEL
.................................................
153
BIFURCATING
RECURSIVE
PROCESSING
ELEMENTS
INNEURALARCHITECTURESFORAPPLICATIONSINMULTI-DIMENSIONAL
MOTOR
CONTROL
AND
SENSORY
FUSION
IN
NOISY/UNCERTAIN
ENVIRONMENTS
E.
DEL
MORAL,
E.
AKIRA
...........................................
163
THE
EFFECTIVENESS
OF
ENERGY
CONVERSION
ELEMENTS
IN
THE
CONTROL
OF
POWERED
ORTHOSES
S.
C
.GH
A
R
OO
NI
,M
.
O
.TO
K
H
I
,G.
S.V
I
R
K
..............................
171
KINEMATICAL
BEHAVIOR
ANALYSIS
AND
WALKING
PATTERN
GENERATION
OF
A
FIVE
DEGREES
OF
FREEDOM
PNEUMATIC
ROBOTIC
LEG
G.
MUSCATO,
G.
SPAMPINATO
.......................................
181
ARTIFICIAL
POTENTIAL
BASED
CONTROL
FOR
A
LARGE
SCALE
FORMATION
OF
MOBILE
ROBOTS
WOJCIECH
KOWALCZYK,
KRZYSZTOF
KOZLOWSKI
...........................
191
MOBILE
MINI
ROBOTS
FOR
MAS
M.W.
HAN,
P.
KOPACEK,
B.
PUTZ,
E.
SSHIERER,
M.
W¨URZL
..............
201
CONTENTS
XVII
TWO
NEURAL
APPROACHES
FOR
SOLVING
REACHING
TASKS
WITH
REDUNDANT
ROBOTS
J.
MOLINA-VILAPLANA,
J.L.
PEDREYYNO-MOLINA,
J.
L´OPEZ-CORONADO
.........
211
DESIGN
AND
IMPLEMENTATION
OF
FORCE
SENSOR
FOR
ROBOCLIMBER
H.
MONTES,
S.
NABULSI,
M.
ARMADA
.................................
219
DETECTING
ZERO-MOMENT
POINT
IN
LEGGED
ROBOT
H.
MONTES,
S.
NABULSI,
M.
ARMADA
.................................
229
VISION
FEEDBACK
IN
CONTROL
OF
A
GROUP
OF
MOBILE
ROBOTS
PIOTR
DUTKIEWICZ,
MARCIN
KIEYYLCZEWSKI
...............................
237
PART
III
DESIGN
KINEMATICS
OF
A
NEW
STAIRCASE
CLIMBING
WHEELCHAIR
R.
MORALES,
V.
FELIU,
A.
GONZ´ALEZ,
P.
PINTADO
.......................
249
OPEN
MODULAR
DESIGN
FOR
ROBOTIC
SYSTEMS
I.
CHOCHLIDAKIS,
Y.
GATSOULIS,
G.S.
VIRK
.............................
265
MECHANICAL
DESIGN
OPTIMIZATION
OF
A
WALKING
ROBOT
LEG
USING
GENETIC
ALGORITHM
C.
REYES,
F.
GONZALEZ
............................................
275
DESIGN
TOOLSET
FOR
REALISING
ROBOTIC
SYSTEMS
YIANNIS
GATSOULIS,
IOANNIS
CHOCHLIDAKIS,
GURVINDER
S.
VIRK
...........
285
DESIGN,
DYNAMIC
SIMULATION
AND
EXPERIMENTAL
TESTS
OF
LEG
MECHANISMANDDRIVINGSYSTEMFORAHEXAPODWALKINGROBOT
J.
ROCA,
M.
NOGU´ES,
S.
CARDONA
...................................
295
LIMB-MECHANISM
ROBOT
WITH
WINCH
MECHANISM
N.
FUJIKI,
Y.
MAE,
T.
UMETANI,
T.
ARAI,
T.
TAKUBO,
K.
INOUE
.........
305
EMBODIMENT
IN
TWO
DIMENSIONS
CHRISTIAN
R.
LINDER
..............................................
313
LEGGED
ROBOT
WITH
ARTICULATED
BODY
IN
LOCOMOTION
OVER
COMPLEX
TERRAIN
PALIS,
RUSIN,
SCHUMUCKER,
SCHNEIDER,
ZAVGORODNIY
...................
321
WALKIE
6.4:
A
NEW
IMPROVED
VERSION
OF
A
RIGID
FRAMES
HEXAPOD
ROVER
N.AMATI,B.BONA,S.CARABELLI,M.CHIABERGE,G.GENTA,M.PADOVANI,
R.
VOLPE
........................................................
329
XVIII
CONTENTS
WALLWALKER:
PROPOSAL
OF
LOCOMOTION
MECHANISM
CLEANING
EVEN
AT
THE
CORNER
T.
MIYAKE,
H.
ISHIHARA
...........................................
341
BEHAVIOUR
NETWORKS
FOR
WALKING
MACHINES
-
A
DESIGN
METHOD
JAN
ALBIEZ,
RUDIGER
DILLMANN
.....................................
349
BIOLOGICAL
INSPIRED
WALKING
-
HOW
MUCH
NATURE
DO
WE
NEED?
JAN
ALBIEZ,
KARSTAN
BERNS
........................................
357
PART
IV
SENSORS,
TELEOPERATION
AND
TELEPRESENCE
RESULTS
OF
APPLYING
SENSOR
FUSION
TO
A
CONTROL
SYSTEM
USING
OPTIC
FLOW
G.
MARTINEZ,
V.M.
BECERRA
........................................
367
NOVEL
METHOD
FOR
VIRTUAL
IMAGE
GENERATION
FOR
TELEOPERATION
R.
CHELLALI,
C.
MAAOUI,
J.G.
FONTAINE
..............................
377
INTELLIGENT
TECHNICAL
AUDITION
AND
VISION
SENSORS
FOR
WALKING
ROBOT
REALIZING
TELEPRESENCE
FUNCTIONS
V.E.
PAVLOVSKY,
S.A.
POLIVTSEEV,
T.S.
KHASHAN
......................
387
LEARNING
ABOUT
THE
ENVIRONMENT
BY
ANALYZING
ACOUSTIC
INFORMATION.
HOW
TO
ACHIEVE
PREDICTABILITY
IN
UNKNOWN
ENVIRONMENTS?
(PART
II)
M.
DEUTSCHER,
M.
KATZ,
S.
KR¨UGER,
M.
BAJBOUJ
......................
399
ULTRASOUND
SENSOR
SYSTEM
WITH
FUZZY
DATA
PROCESSING
J.A.
MORGADO
DE
GOIS,
M.
HILLER
...................................
411
FINDING
ODOURS
ACROSS
LARGE
SEARCH
SPACES:
A
PARTICLE
SWARM-BASED
APPROACH
LINO
MARQUES,
A.T.
DE
ALMEIDA
...................................
419
VISION
FEEDBACK
IN
CONTROL
OF
A
GROUP
OF
MOBILE
ROBOTS
PIOTR
DUTKIEWICZ,
MARCIN
KIEYYLCZEWSKI
...............................
427
VEHICLE
TELEOPERATION
WITH
A
MULTISENSORY
DRIVING
INTERFACE
MARIO
MAZA,
SANTIAGO
BASELGA,
JES´US
ORTIZ
.........................
437
CONTENTS
XIX
APPROACHES
TO
THE
GENERATION
OF
WHOLE
BODY
MOTION
SENSATION
IN
TELEOPERATION
MARIO
MAZA,
SANTIAGO
BASELGA,
JES´US
ORTIZ
.........................
447
VIRTUAL
PLATFORM
FOR
LAND-MINE
DETECTION
BASED
ON
WALKING
ROBOTS
A.
RAMIREZ,
E.
GARCIA,
P.
GONZALEZ
DE
SANTOS
.......................
457
VISION
COMPUTER
TOOL
TO
IMPROVE
THE
DEPENDABILITY
OF
MOBILE
ROBOTS
FOR
HUMAN
ENVIRONMENTS
C.
SALINAS,
L.
PEDRAZA,
M.
ARMADA
................................
467
PART
V
EFFICIENCY
AND
ACTUATION
TOWARD
SPRINGY
ROBOT
WALK
USING
STRAND-MUSCLE
ACTUATORS
MASAKAZU
SUZUKI,
AZUMI
ICHIKAWA
.................................
479
ACTUATOR
SIZES
IN
BIO-ROBOTIC
WALKING
ORTHOSES
S.C.
GHAROONI,
G.S.
VIRK,
M.O.
TOKHI
..............................
487
THE
DESIGN
AND
SIMULATED
PERFORMANCE
OF
AN
ENERGY
EFFICIENT
HYDRAULIC
LEGGED
ROBOT
SALIM
AL-KHARUSI,
DAVID
HOWARD
...................................
495
THE
MODULARITY
OF
SUPER
EMBEDDED
ROBOTIC
PC
A.
BASILE,
N.
ABBATE,
C.
GUASTELLA,
M.
LO
PRESTI,
G.
MACINA
..........
503
MASS
DISTRIBUTION
INFLUENCE
ON
POWER
CONSUMPTION
IN
WALKING
ROBOTS
T.A.
GUARDABRAZO,
P.
GONZALEZ
DE
SANTOS
...........................
511
DESIGN
OF
DUAL
ACTUATOR
FOR
WALKING
ROBOTS
TEODOR
AKINFIEV,
ROEMI
FERNANDEZ,
MANUEL
ARMADA
..................
519
PART
VI
HOPPING,
BIPED
AND
HUMANOID
ROBOTS
CONTROL
OF
A
3-D
HOPPING
APPARATUS
V.B.
LARIN
......................................................
531
LEARNING
OF
THE
DYNAMIC
WALK
OF
AN
UNDER-ACTUATED
BIPEDAL
ROBOT:
IMPROVEMENT
OF
THE
ROBUSTNESS
BY
USING
CMAC
NEURAL
NETWORKS
CHRISTOPHE
SABOURIN,
OLIVIER
BRUNEAU,
JEAN-GUY
FONTAINE
............
543
XX
CONTENTS
DYNAMIC
STABILIZATION
OF
AN
UNDER
ACTUATED
ROBOT
USING
INERTIA
OF
THE
TRANSFER
LEG
A.
DAVID,
O.
BRUNEAU,
J.G.
FONTAINE
...............................
551
KINEMATIC
AND
DYNAMIC
ANALYSES
OF
A
PANTOGRAPH-LEG
FOR
A
BIPED
WALKING
MACHINE
E.
OTTAVIANO,
M.
CECCARELLI,
C.
TAVOLIERI
............................
561
HUMANOID
ROBOT
KINEMATICS
MODELING
USING
LIE
GROUPS
J.M.
PARDOS,
C.
BALAGUER
.........................................
569
GA
OPTIMISATION
OF
THE
PD
COEFFICIENTS
FOR
THE
LMBC
OF
A
PLANAR
BIPED
D.
HARVEY,
G.S.
VIRK,
D.
AZZI
.....................................
577
THREE-DIMENSIONAL
RUNNING
IS
UNSTABLE
BUT
EASILY
STABILIZED
JUSTIN
E.
SEIPEL,
PHILIP
J.
HOLMES
..................................
585
A
BIOMIMETIC
APPROACH
FOR
THE
STABILITY
OF
BIPED
ROBOTS
JAVIER
DE
LOPE,
DAR´YYO
MARAVALL
....................................
593
PARALLEL
MANIPULATOR
HIP
JOINT
FOR
A
BIPEDAL
ROBOT
J.
HOFSCHULTE,
M.
SEEBODE,
W.
GERTH
...............................
601
GAITS
STABILIZATION
FOR
PLANAR
BIPED
ROBOTS
USING
ENERGETIC
REGULATION
N.K.
M SIRDI,
N.
KHRAIEF,
O.
LICER
.................................
611
FORCE
FEEDBACK
CONTROL
IMPLEMENTATION
FOR
SMART
NON-LINEAR
ACTUATOR
H.
MONTES,
L.
PEDRAZA,
M.
ARMADA,
T.
AKINFIEV
.....................
625
USER
FRIENDLY
GRAPHICAL
ENVIRONMENT
FOR
GAIT
OPTIMIZATION
OF
THE
HUMANOID
ROBOT
RH-0
M.
ARBUL´U,
I.PRIETO,D.GUTI´ERREZ,L.CABAS,P.
STAROVEROV,
C.BALAGUER
..
633
DEVELOPMENT
OF
THE
LIGHT-WEIGHT
HUMAN
SIZE
HUMANOID
ROBOT
RH-0
L.
CABAS,
S.
DE
TORRE,
M.
ARBULU,
C.
BALAGUER
......................
643
HUMAN
MACHINE
INTERFACE
FOR
HUMANOID
ROBOT
RH-0
I.
PRIETO,
C.
P´EREZ,
C.
BALAGUER
...................................
655
TRAJECTORY
PLANNING
FOR
THE
WALKING
BIPED
LUCY
JIMMY
VERMEULEN,
DIRK
LEFEBER,
BJ¨ORN
VERRELST,
BRAM
VANDERBORGHT
...
665
CONTENTS
XXI
HEIGHT
CONTROL
OF
A
RESONANCE
HOPPING
ROBOT
ROEMI
FERN´ANDEZ,
TEODOR
AKINFIEV,
MANUEL
ARMADA
..................
677
ZERO
MOMENT
POINT
MODELING
USING
HARMONIC
BALANCE
R.
CABALLERO,
M.
ARMADA
.........................................
689
AN
INTRODUCTORY
REVISION
TO
HUMANOID
ROBOT
HANDS
D.
ALBA,
M.
ARMADA,
R.
PONTICELLI
.................................
701
CONTROL
ARCHITECTURE
OF
LUCY,
A
BIPED
WITH
PNEUMATIC
ARTIFICIAL
MUSCLES
B.
VANDERBORGHT,
B.
VERRELST,
R.
VAN
HAM,
J.
VERMEULEN,
J.
NAUDET,
D.
LEFEBER
......................................................
713
PART
VII
PASSIVE
WALKING
LOCOMOTION
STABLE
WALKING
AND
RUNNING
ROBOTS
WITHOUT
FEEDBACK
KATJA
D.
MOMBAUR,
H.
GEORG
BOCK,
JOHANNES
P.
SCHL¨ODER,
RICHARD
W.
LONGMAN
.......................................................
725
FROM
PASSIVE
TO
ACTIVE
DYNAMIC
3D
BIPEDAL
WALKING
-
AN
EVOLUTIONARY
APPROACH
STEFFEN
WISCHMANN,
FRANK
PASEMANN
..............................
737
FIRST
STEPS
IN
PASSIVE
DYNAMIC
WALKING
MARTIJN
WISSE,
AREND
L.
SCHWAB
...................................
745
CONTROLLING
WALKING
PERIOD
OF
A
PNEUMATIC
MUSCLE
WALKER
TAKASHI
TAKUMA,
KOH
HOSODA,
MASAKI
OGINO,
MINORU
ASADA
..........
757
EVOLUTIONARY
DESIGN
OF
AN
ADAPTIVE
DYNAMIC
WALKER
JOACHIM
HASS,
J.
MICHAEL
HERRMANN,
THEO
GEISEL
....................
765
THE
PASSIVITY
PARADIGM
IN
THE
CONTROL
OF
BIPEDAL
ROBOTS
MARK
W.
SPONG
..................................................
775
ANKLE
JOINTS
AND
FLAT
FEET
IN
DYNAMIC
WALKING
DAAN
G.E.
HOBBELEN,
MARTIJN
WISSE
................................
787
ROBOTIC
WALKING
AIDS
FOR
DISABLED
PERSONS
G.S.
VIRK,
S.K.
BAG,
S.C.
GHAROONI,
M.O.
TOKHI,
R.I.
TYLOR,
S.
BRADSHAW,
F.
JAMIL,
I.D.
SWAIN,
P.H.
CHAPPLE,
R.A.
ALLEN
.........
801
THE
TANGO
OF
A
LOAD
BALANCING
BIPED
ERIC
D.
VAUGHAN,
EZEQUIEL
DI
PAOLO,
INMAN
R.
HARVEY
...............
813
LOCOMOTION
MODES
OF
AN
HYBRID
WHEEL-LEGGED
ROBOT
G.
BESSERON,
CH.
GRAND,
F.
BEN
AMAR,
F.
PLUMET,
PH.
BIDAUD
........
825
XXII
CONTENTS
STABILIZING
DYNAMIC
WALKING
WITH
PHYSICAL
TRICKS
NORBERT
M.
MAYER,
AMIR
A.
FOROUGH-NASSIRAEI,
ZITON
HSU,
FERENC
FARKAS,
THOMAS
CHRISTALLER
.................................
835
STABILITY
OF
A
SPHERICAL
PENDULUM
WALKER
J.
SEIPEL
........................................................
843
A
CLAWAR
THAT
BENEFITS
FROM
ABSTRACTED
COCKROACH
LOCOMOTION
PRINCIPLES
T.E.
WEI,
R.D.
QUINN,
R.E.
RITZMANN
.............................
849
ISPRAWL
:
AUTONOMY,
AND
THE
EFFECTS
OF
POWER
TRANSMISSION
SANGBAE
KIM,
JONATHAN
E.
CLARK,
MARK
R.
CUTKOSKY
.................
859
LOCOMOTION
OF
A
MODULAR
WORM-LIKE
ROBOT
USING
A
FPGA-BASED
EMBEDDED
MICROBLAZE
SOFT-PROCESSOR
J.
GONZALEZ-GOMEZ,
E.
AGUAYO,
E.
BOEMO
..........................
869
EVOLUTIONARY
SYNTHESIS
OF
STRUCTURE
AND
CONTROL
FOR
LOCOMOTION
SYSTEMS
O.
CHOCRON,
N.
BRENER,
PH.
BIDAUD,
F.
B.
AMAR
.....................
879
KINEMATIC
MODEL
AND
ABSOLUTE
GAIT
SIMULATION
OF
A
SIX
LEGGED
WALKING
ROBOT
G.
FIGLIOLINI,
V.
RIPA
.............................................
889
PART
VIII
CLIMBING
AND
NAVIGATION
SIMULATION
OF
CLIMBING
ROBOTS
USING
UNDERPRESSURE
FOR
ADHESION
C.
HILLENBRAND,
J.
WETTACH,
K.
BERNS
..............................
899
TECHNIQUE
FOR
A
SIX-LEGGED
WALKER
CLIMBING
A
HIGH
SHELF
BY
USING
A
VERTICAL
COLUMN
YU.
F.
GOLUBEV,
V.V.
KORIANOV
....................................
909
INVERSEKINEMATIC/DYNAMICANALYSISOFANEW4-DOFHYBRID
(SERIAL-PARALLEL)
POLE
CLIMBING
ROBOT
MANIPULATOR
M.R.
ZAKERZADEH,
M.
TAVAKOLI,
G.R.
VOSSOUGHI,
S.
BAGHERI
...........
919
CLIMBING
WITHOUT
A
VACUUM
PUMP
WERNER
BROCKMANN,
FLORIAN
M¨OSCH
................................
935
ROBOCLIMBER:
CONTROL
SYSTEM
ARCHITECTURE
S.
NABULSI,
H.
MONTES,
M.
ARMADA
.................................
943
CONTENTS
XXIII
NAVIGATION
OF
WALKING
ROBOTS:
LOCALISATION
BY
ODOMETRY
B.
GASSMANN,
J.M.
Z¨OLLNER,
R.
DILLMANN
............................
953
TOWARDS
PENETRATION-BASED
CLAWED
CLIMBING
WILLIAM
R.
PROVANCHER,
JONATHAN
E.
CLARK,
BILL
GEISLER,
MARK
R.
CUTKOSKY
................................................
961
MOTION
PLANNING
FOR
A
LEGGED
VEHICLE
BASED
ON
OPTICAL
SENSOR
INFORMATION
RICHARD
BADE,
ANDR´E
HERMS,
THOMAS
IHME
.........................
971
DEVELOPING
CLIMBING
ROBOTS
FOR
EDUCATION
K.
BERNS,
T.
BRAUN,
C.
HILLENBRAND,
T.
LUKSCH
......................
981
ROBUST
LOCALISATION
SYSTEM
FOR
A
CLIMBING
ROBOT
ANDR´E
MARTINS,
LINO
MARQUES,
A.T.
DE
ALMEIDA
.....................
989
ROBOCLIMBER:
PROPOSAL
FOR
ONLINE
GAIT
PLANNING
M.
MORONTI,
M.
SANGUINETI,
M.
ZOPPI,
R.
MOLFINO
....................
997
ADHESION
CONTROL
FOR
THE
ALICIA
3
CLIMBING
ROBOT
D.
LONGO,
G.
MUSCATO
............................................
1005
PART
IX
APPLICATIONS
IN
SERVICE
INSPECTION
ROBOTIZED
TOOL
FOR
TANKS
FILLED
WITH
HAZARDOUS
LIQUIDS
-
ROBTANK
INSPEC
A.
CORREIA
CRUZ,
M.
SILVA
RIBEIRO
.................................
1019
SIRIUSC
-
FACADE
CLEANING
ROBOT
FOR
A
HIGH
RISE
BUILDING
IN
MUNICH,
GERMANY
N.
ELKMANN,
D.
KUNST,
T.
KRUEGER,
M.
LUCKE,
T.
B¨OHME,
T.
FELSCH,
T.
ST¨URZE
.......................................................
1033
IN-PIPE
MICROROBOT
WITH
INERTIAL
MOOD
OF
MOTION
G.
G.
RIZZOTO,
M.
VELKENKO,
P.
AMATO,
V.
GRADETSKY,
S.
BABKIROV,
M.
KNYAZKOV,
V.
SOLOVTOV
.........................................
1041
THE
LAYER-CROSSING
STRATEGY
OF
CURVED
WALL
CLEANING
ROBOT
R.
LIU,
J.
HENG,
G.
ZONG
.........................................
1053
PNEUMATIC
CLIMBING
ROBOTS
FOR
GLASS
WALL
CLEANING
HOUXIANGZHANG,
JIANWEIZHANG,
RONGLIU,
WEIWANG,
GUANGHUAZONG
.
1061
XXIV
CONTENTS
DESIGN
AND
PROTOTYPING
OF
A
HYBRID
POLE
CLIMBING
AND
MANIPULATING
ROBOT
WITH
MINIMUM
DOFS
FOR
CONSTRUCTION
AND
SERVICE
APPLICATIONS
M.
TAVAKOLI,
M.R.
ZAKERZADEH,
G.R.
VOSSOUGHI,
S.
BAGHERI
...........
1071
PART
X
INNOVATIVE
SYSTEMS
DESIGN
AND
CONTROL
OF
A
MANIPULATOR
FOR
LANDMINE
DETECTION
E.
GARCIA,
P.
GONZALEZ
DE
SANTOS
..................................
1083
INTERACTIONS
BETWEEN
HUMAN
AND
ROBOT
-
CASE
STUDY:
WORKPARTNER-ROBOT
IN
THE
ISR
2004
EXHIBITION
S.
YL¨ONEN,
M.
HEIKKIL¨A,
P.
VIREKOSKI
...............................
1091
ROBUST
PLATFORM
FOR
HUMANITARIAN
DEMINING
LINO
MARQUES,
SVETLANA
LARIONOVA,
A.T.
DE
ALMEIDA
.................
1097
CO-OPERATIVE
SMELL-BASED
NAVIGATION
FOR
MOBILE
ROBOTS
C.
LYTRIDIS,
G.S.
VIRK,
E.E.
KADAR
.................................
1107
A
LOCALIZATION
ALGORITHM
FOR
OUTDOOR
TRAJECTORY
TRACKING
WITH
LEGGED
ROBOTS
J.A.
COBANO,
J.
ESTREMERA,
P.
GONZALEZ
DE
SANTOS
...................
1119
SIT
TO
STAND
TRANSFER
ASSISTING
BY
AN
INTELLIGENT
WALKING-AID
P.
M´ED`ERIC,
V.
PASQUI,
F.
PLUMET,
P.
BIDAUD
........................
1127
PART
XI
CLAWAR
NETWORK
WORKPACKAGES
CLAWAR
MODULARITY
-
DESIGN
TOOLS
G.S.
VIRK
.......................................................
1139
INTERACTION
SPACE
ANALYSIS
FOR
CLAWAR
WP5
SOCIETAL
NEEDS
M.
ARMADA,
M.
PRIETO
............................................
1147
CLAWAR
WP3
APPLICATIONS:
NATURAL/OUTDOOR
AND
UNDERWATER
ROBOTS
D.
LONGO,
G.
MUSCATO
............................................
1159
CONTENTS
XXV
CLAWAR
2
WORK
PACKAGE
6
(WP6)
-
ASSESSMENT
YEAR
2,
MAY
2004.
ECONOMIC
PROSPECTS
FOR
MOBILE
ROBOTIC
SYSTEMS
-
EXPLOITATION
AND
RISK
H.A.
WARREN,
N.J.
HEYES
.........................................
1171
INDEX
..........................................................
1191
|
| adam_txt |
CONTENTS
PART
I
PLENARY
SESSIONS
ROBOT
VISION:
A
HOLISTIC
VIEW
MING
XIE
.
3
WHAT
BIPEDAL
HUMAN
LOCOMOTION
CAN
TEACH
US
ABOUT
MOTOR
CONTROL
SYNERGIES
FOR
SAFE
ROBOTIC
LOCOMOTION
D.A.
WINTER
.
39
PROBLEMS
OF
SCALE
FOR
WALKING
AND
CLIMBING
ANIMALS
R.
MCNEILL
ALEXANDER
.
47
BIOLOGICALLY
MOTIVATED
CONTROL
OF
WALKING
MACHINES
R.
DILLMANN,
J.
ALBIEZ,
B.
GASSMANN,
T.
KERSCHER
.
55
PART
II
CONTROL
INTEGER
VS.
FRACTIONAL
ORDER
CONTROL
OF
A
HEXAPOD
ROBOT
MANUEL
F.
SILVA,
J.
A.
TENREIRO
MACHADO,
ANT´ONIO
M.
LOPES
.
73
SYNCHRONOUS
LANDING
CONTROL
OF
A
ROTATING
4-LEGGED
ROBOT,
PEOPLER,
FOR
STABLE
DIRECTION
CHANGE
T.
OKADA,
Y.
HIROKAWA,
T.
SAKAI,
K.
SHIBUYA
.
85
NEURO-CONTROLLERS
FOR
WALKING
MACHINES
-
AN
EVOLUTIONARY
APPROACH
TO
ROBUST
BEHAVIOR
JOERN
FISCHER,
FRANK
PASEMANN,
PORAMATE
MANOONPONG
.
97
XVI
CONTENTS
DECENTRALIZED
DYNAMIC
FORCE
DISTRIBUTION
FOR
MULTI-LEGGED
LOCOMOTION
T.
ODASHIMA,
Z.W.
LUO
.
103
AN
OUTDOOR
VEHICLE
CONTROL
METHOD
BASED
BODY
CONFIGURATION
INFORMATION
DAISUKE
CHUGO,
KUNIAKI
KAWABATA,
HAYATO
KAETSU,
HAJIME
ASAMA,
TAKETOSHI
MISHIMA
.
113
PHYSICALLY
VARIABLE
COMPLIANCE
IN
RUNNING
JONATHAN
W.
HURST,
ALFRED
A.
RIZZI
.
123
IMPLEMENTATION
OF
A
DRIVER
LEVEL
WITH
ODOMETRY
FOR
THE
LAURON
III
HEXAPOD
ROBOT
J.L.
ALBARRAL,
E.
CELAYA
.
135
LOCAL
POSITIVE
VELOCITY
FEEDBACK
(LPVF):
GENERATING
COMPLIANT
MOTIONS
IN
A
MULTI-JOINT
LIMB
AXEL
SCHNEIDER,
HOLK
CRUSE,
JOSEF
SCHMITZ
.
143
MOTION
CALCULATION
FOR
HUMAN
LOWER
EXTREMITIES
BASED
ON
EMG-SIGNAL-PROCESSING
AND
SIMPLE
BIOMECHANICAL
MODEL
CHRISTIAN
FLEISCHER,
KONSTANTIN
KONDAK,
CHRISTIAN
REINICKE,
G¨UNTER
HOMMEL
.
153
BIFURCATING
RECURSIVE
PROCESSING
ELEMENTS
INNEURALARCHITECTURESFORAPPLICATIONSINMULTI-DIMENSIONAL
MOTOR
CONTROL
AND
SENSORY
FUSION
IN
NOISY/UNCERTAIN
ENVIRONMENTS
E.
DEL
MORAL,
E.
AKIRA
.
163
THE
EFFECTIVENESS
OF
ENERGY
CONVERSION
ELEMENTS
IN
THE
CONTROL
OF
POWERED
ORTHOSES
S.
C
.GH
A
R
OO
NI
,M
.
O
.TO
K
H
I
,G.
S.V
I
R
K
.
171
KINEMATICAL
BEHAVIOR
ANALYSIS
AND
WALKING
PATTERN
GENERATION
OF
A
FIVE
DEGREES
OF
FREEDOM
PNEUMATIC
ROBOTIC
LEG
G.
MUSCATO,
G.
SPAMPINATO
.
181
ARTIFICIAL
POTENTIAL
BASED
CONTROL
FOR
A
LARGE
SCALE
FORMATION
OF
MOBILE
ROBOTS
WOJCIECH
KOWALCZYK,
KRZYSZTOF
KOZLOWSKI
.
191
MOBILE
MINI
ROBOTS
FOR
MAS
M.W.
HAN,
P.
KOPACEK,
B.
PUTZ,
E.
SSHIERER,
M.
W¨URZL
.
201
CONTENTS
XVII
TWO
NEURAL
APPROACHES
FOR
SOLVING
REACHING
TASKS
WITH
REDUNDANT
ROBOTS
J.
MOLINA-VILAPLANA,
J.L.
PEDREYYNO-MOLINA,
J.
L´OPEZ-CORONADO
.
211
DESIGN
AND
IMPLEMENTATION
OF
FORCE
SENSOR
FOR
ROBOCLIMBER
H.
MONTES,
S.
NABULSI,
M.
ARMADA
.
219
DETECTING
ZERO-MOMENT
POINT
IN
LEGGED
ROBOT
H.
MONTES,
S.
NABULSI,
M.
ARMADA
.
229
VISION
FEEDBACK
IN
CONTROL
OF
A
GROUP
OF
MOBILE
ROBOTS
PIOTR
DUTKIEWICZ,
MARCIN
KIEYYLCZEWSKI
.
237
PART
III
DESIGN
KINEMATICS
OF
A
NEW
STAIRCASE
CLIMBING
WHEELCHAIR
R.
MORALES,
V.
FELIU,
A.
GONZ´ALEZ,
P.
PINTADO
.
249
OPEN
MODULAR
DESIGN
FOR
ROBOTIC
SYSTEMS
I.
CHOCHLIDAKIS,
Y.
GATSOULIS,
G.S.
VIRK
.
265
MECHANICAL
DESIGN
OPTIMIZATION
OF
A
WALKING
ROBOT
LEG
USING
GENETIC
ALGORITHM
C.
REYES,
F.
GONZALEZ
.
275
DESIGN
TOOLSET
FOR
REALISING
ROBOTIC
SYSTEMS
YIANNIS
GATSOULIS,
IOANNIS
CHOCHLIDAKIS,
GURVINDER
S.
VIRK
.
285
DESIGN,
DYNAMIC
SIMULATION
AND
EXPERIMENTAL
TESTS
OF
LEG
MECHANISMANDDRIVINGSYSTEMFORAHEXAPODWALKINGROBOT
J.
ROCA,
M.
NOGU´ES,
S.
CARDONA
.
295
LIMB-MECHANISM
ROBOT
WITH
WINCH
MECHANISM
N.
FUJIKI,
Y.
MAE,
T.
UMETANI,
T.
ARAI,
T.
TAKUBO,
K.
INOUE
.
305
EMBODIMENT
IN
TWO
DIMENSIONS
CHRISTIAN
R.
LINDER
.
313
LEGGED
ROBOT
WITH
ARTICULATED
BODY
IN
LOCOMOTION
OVER
COMPLEX
TERRAIN
PALIS,
RUSIN,
SCHUMUCKER,
SCHNEIDER,
ZAVGORODNIY
.
321
WALKIE
6.4:
A
NEW
IMPROVED
VERSION
OF
A
RIGID
FRAMES
HEXAPOD
ROVER
N.AMATI,B.BONA,S.CARABELLI,M.CHIABERGE,G.GENTA,M.PADOVANI,
R.
VOLPE
.
329
XVIII
CONTENTS
WALLWALKER:
PROPOSAL
OF
LOCOMOTION
MECHANISM
CLEANING
EVEN
AT
THE
CORNER
T.
MIYAKE,
H.
ISHIHARA
.
341
BEHAVIOUR
NETWORKS
FOR
WALKING
MACHINES
-
A
DESIGN
METHOD
JAN
ALBIEZ,
RUDIGER
DILLMANN
.
349
BIOLOGICAL
INSPIRED
WALKING
-
HOW
MUCH
NATURE
DO
WE
NEED?
JAN
ALBIEZ,
KARSTAN
BERNS
.
357
PART
IV
SENSORS,
TELEOPERATION
AND
TELEPRESENCE
RESULTS
OF
APPLYING
SENSOR
FUSION
TO
A
CONTROL
SYSTEM
USING
OPTIC
FLOW
G.
MARTINEZ,
V.M.
BECERRA
.
367
NOVEL
METHOD
FOR
VIRTUAL
IMAGE
GENERATION
FOR
TELEOPERATION
R.
CHELLALI,
C.
MAAOUI,
J.G.
FONTAINE
.
377
INTELLIGENT
TECHNICAL
AUDITION
AND
VISION
SENSORS
FOR
WALKING
ROBOT
REALIZING
TELEPRESENCE
FUNCTIONS
V.E.
PAVLOVSKY,
S.A.
POLIVTSEEV,
T.S.
KHASHAN
.
387
LEARNING
ABOUT
THE
ENVIRONMENT
BY
ANALYZING
ACOUSTIC
INFORMATION.
HOW
TO
ACHIEVE
PREDICTABILITY
IN
UNKNOWN
ENVIRONMENTS?
(PART
II)
M.
DEUTSCHER,
M.
KATZ,
S.
KR¨UGER,
M.
BAJBOUJ
.
399
ULTRASOUND
SENSOR
SYSTEM
WITH
FUZZY
DATA
PROCESSING
J.A.
MORGADO
DE
GOIS,
M.
HILLER
.
411
FINDING
ODOURS
ACROSS
LARGE
SEARCH
SPACES:
A
PARTICLE
SWARM-BASED
APPROACH
LINO
MARQUES,
A.T.
DE
ALMEIDA
.
419
VISION
FEEDBACK
IN
CONTROL
OF
A
GROUP
OF
MOBILE
ROBOTS
PIOTR
DUTKIEWICZ,
MARCIN
KIEYYLCZEWSKI
.
427
VEHICLE
TELEOPERATION
WITH
A
MULTISENSORY
DRIVING
INTERFACE
MARIO
MAZA,
SANTIAGO
BASELGA,
JES´US
ORTIZ
.
437
CONTENTS
XIX
APPROACHES
TO
THE
GENERATION
OF
WHOLE
BODY
MOTION
SENSATION
IN
TELEOPERATION
MARIO
MAZA,
SANTIAGO
BASELGA,
JES´US
ORTIZ
.
447
VIRTUAL
PLATFORM
FOR
LAND-MINE
DETECTION
BASED
ON
WALKING
ROBOTS
A.
RAMIREZ,
E.
GARCIA,
P.
GONZALEZ
DE
SANTOS
.
457
VISION
COMPUTER
TOOL
TO
IMPROVE
THE
DEPENDABILITY
OF
MOBILE
ROBOTS
FOR
HUMAN
ENVIRONMENTS
C.
SALINAS,
L.
PEDRAZA,
M.
ARMADA
.
467
PART
V
EFFICIENCY
AND
ACTUATION
TOWARD
SPRINGY
ROBOT
WALK
USING
STRAND-MUSCLE
ACTUATORS
MASAKAZU
SUZUKI,
AZUMI
ICHIKAWA
.
479
ACTUATOR
SIZES
IN
BIO-ROBOTIC
WALKING
ORTHOSES
S.C.
GHAROONI,
G.S.
VIRK,
M.O.
TOKHI
.
487
THE
DESIGN
AND
SIMULATED
PERFORMANCE
OF
AN
ENERGY
EFFICIENT
HYDRAULIC
LEGGED
ROBOT
SALIM
AL-KHARUSI,
DAVID
HOWARD
.
495
THE
MODULARITY
OF
SUPER
EMBEDDED
ROBOTIC
PC
A.
BASILE,
N.
ABBATE,
C.
GUASTELLA,
M.
LO
PRESTI,
G.
MACINA
.
503
MASS
DISTRIBUTION
INFLUENCE
ON
POWER
CONSUMPTION
IN
WALKING
ROBOTS
T.A.
GUARDABRAZO,
P.
GONZALEZ
DE
SANTOS
.
511
DESIGN
OF
DUAL
ACTUATOR
FOR
WALKING
ROBOTS
TEODOR
AKINFIEV,
ROEMI
FERNANDEZ,
MANUEL
ARMADA
.
519
PART
VI
HOPPING,
BIPED
AND
HUMANOID
ROBOTS
CONTROL
OF
A
3-D
HOPPING
APPARATUS
V.B.
LARIN
.
531
LEARNING
OF
THE
DYNAMIC
WALK
OF
AN
UNDER-ACTUATED
BIPEDAL
ROBOT:
IMPROVEMENT
OF
THE
ROBUSTNESS
BY
USING
CMAC
NEURAL
NETWORKS
CHRISTOPHE
SABOURIN,
OLIVIER
BRUNEAU,
JEAN-GUY
FONTAINE
.
543
XX
CONTENTS
DYNAMIC
STABILIZATION
OF
AN
UNDER
ACTUATED
ROBOT
USING
INERTIA
OF
THE
TRANSFER
LEG
A.
DAVID,
O.
BRUNEAU,
J.G.
FONTAINE
.
551
KINEMATIC
AND
DYNAMIC
ANALYSES
OF
A
PANTOGRAPH-LEG
FOR
A
BIPED
WALKING
MACHINE
E.
OTTAVIANO,
M.
CECCARELLI,
C.
TAVOLIERI
.
561
HUMANOID
ROBOT
KINEMATICS
MODELING
USING
LIE
GROUPS
J.M.
PARDOS,
C.
BALAGUER
.
569
GA
OPTIMISATION
OF
THE
PD
COEFFICIENTS
FOR
THE
LMBC
OF
A
PLANAR
BIPED
D.
HARVEY,
G.S.
VIRK,
D.
AZZI
.
577
THREE-DIMENSIONAL
RUNNING
IS
UNSTABLE
BUT
EASILY
STABILIZED
JUSTIN
E.
SEIPEL,
PHILIP
J.
HOLMES
.
585
A
BIOMIMETIC
APPROACH
FOR
THE
STABILITY
OF
BIPED
ROBOTS
JAVIER
DE
LOPE,
DAR´YYO
MARAVALL
.
593
PARALLEL
MANIPULATOR
HIP
JOINT
FOR
A
BIPEDAL
ROBOT
J.
HOFSCHULTE,
M.
SEEBODE,
W.
GERTH
.
601
GAITS
STABILIZATION
FOR
PLANAR
BIPED
ROBOTS
USING
ENERGETIC
REGULATION
N.K.
M'SIRDI,
N.
KHRAIEF,
O.
LICER
.
611
FORCE
FEEDBACK
CONTROL
IMPLEMENTATION
FOR
SMART
NON-LINEAR
ACTUATOR
H.
MONTES,
L.
PEDRAZA,
M.
ARMADA,
T.
AKINFIEV
.
625
USER
FRIENDLY
GRAPHICAL
ENVIRONMENT
FOR
GAIT
OPTIMIZATION
OF
THE
HUMANOID
ROBOT
RH-0
M.
ARBUL´U,
I.PRIETO,D.GUTI´ERREZ,L.CABAS,P.
STAROVEROV,
C.BALAGUER
.
633
DEVELOPMENT
OF
THE
LIGHT-WEIGHT
HUMAN
SIZE
HUMANOID
ROBOT
RH-0
L.
CABAS,
S.
DE
TORRE,
M.
ARBULU,
C.
BALAGUER
.
643
HUMAN
MACHINE
INTERFACE
FOR
HUMANOID
ROBOT
RH-0
I.
PRIETO,
C.
P´EREZ,
C.
BALAGUER
.
655
TRAJECTORY
PLANNING
FOR
THE
WALKING
BIPED
"LUCY"
JIMMY
VERMEULEN,
DIRK
LEFEBER,
BJ¨ORN
VERRELST,
BRAM
VANDERBORGHT
.
665
CONTENTS
XXI
HEIGHT
CONTROL
OF
A
RESONANCE
HOPPING
ROBOT
ROEMI
FERN´ANDEZ,
TEODOR
AKINFIEV,
MANUEL
ARMADA
.
677
ZERO
MOMENT
POINT
MODELING
USING
HARMONIC
BALANCE
R.
CABALLERO,
M.
ARMADA
.
689
AN
INTRODUCTORY
REVISION
TO
HUMANOID
ROBOT
HANDS
D.
ALBA,
M.
ARMADA,
R.
PONTICELLI
.
701
CONTROL
ARCHITECTURE
OF
LUCY,
A
BIPED
WITH
PNEUMATIC
ARTIFICIAL
MUSCLES
B.
VANDERBORGHT,
B.
VERRELST,
R.
VAN
HAM,
J.
VERMEULEN,
J.
NAUDET,
D.
LEFEBER
.
713
PART
VII
PASSIVE
WALKING
LOCOMOTION
STABLE
WALKING
AND
RUNNING
ROBOTS
WITHOUT
FEEDBACK
KATJA
D.
MOMBAUR,
H.
GEORG
BOCK,
JOHANNES
P.
SCHL¨ODER,
RICHARD
W.
LONGMAN
.
725
FROM
PASSIVE
TO
ACTIVE
DYNAMIC
3D
BIPEDAL
WALKING
-
AN
EVOLUTIONARY
APPROACH
STEFFEN
WISCHMANN,
FRANK
PASEMANN
.
737
FIRST
STEPS
IN
PASSIVE
DYNAMIC
WALKING
MARTIJN
WISSE,
AREND
L.
SCHWAB
.
745
CONTROLLING
WALKING
PERIOD
OF
A
PNEUMATIC
MUSCLE
WALKER
TAKASHI
TAKUMA,
KOH
HOSODA,
MASAKI
OGINO,
MINORU
ASADA
.
757
EVOLUTIONARY
DESIGN
OF
AN
ADAPTIVE
DYNAMIC
WALKER
JOACHIM
HASS,
J.
MICHAEL
HERRMANN,
THEO
GEISEL
.
765
THE
PASSIVITY
PARADIGM
IN
THE
CONTROL
OF
BIPEDAL
ROBOTS
MARK
W.
SPONG
.
775
ANKLE
JOINTS
AND
FLAT
FEET
IN
DYNAMIC
WALKING
DAAN
G.E.
HOBBELEN,
MARTIJN
WISSE
.
787
ROBOTIC
WALKING
AIDS
FOR
DISABLED
PERSONS
G.S.
VIRK,
S.K.
BAG,
S.C.
GHAROONI,
M.O.
TOKHI,
R.I.
TYLOR,
S.
BRADSHAW,
F.
JAMIL,
I.D.
SWAIN,
P.H.
CHAPPLE,
R.A.
ALLEN
.
801
THE
TANGO
OF
A
LOAD
BALANCING
BIPED
ERIC
D.
VAUGHAN,
EZEQUIEL
DI
PAOLO,
INMAN
R.
HARVEY
.
813
LOCOMOTION
MODES
OF
AN
HYBRID
WHEEL-LEGGED
ROBOT
G.
BESSERON,
CH.
GRAND,
F.
BEN
AMAR,
F.
PLUMET,
PH.
BIDAUD
.
825
XXII
CONTENTS
STABILIZING
DYNAMIC
WALKING
WITH
PHYSICAL
TRICKS
NORBERT
M.
MAYER,
AMIR
A.
FOROUGH-NASSIRAEI,
ZITON
HSU,
FERENC
FARKAS,
THOMAS
CHRISTALLER
.
835
STABILITY
OF
A
SPHERICAL
PENDULUM
WALKER
J.
SEIPEL
.
843
A
CLAWAR
THAT
BENEFITS
FROM
ABSTRACTED
COCKROACH
LOCOMOTION
PRINCIPLES
T.E.
WEI,
R.D.
QUINN,
R.E.
RITZMANN
.
849
ISPRAWL
:
AUTONOMY,
AND
THE
EFFECTS
OF
POWER
TRANSMISSION
SANGBAE
KIM,
JONATHAN
E.
CLARK,
MARK
R.
CUTKOSKY
.
859
LOCOMOTION
OF
A
MODULAR
WORM-LIKE
ROBOT
USING
A
FPGA-BASED
EMBEDDED
MICROBLAZE
SOFT-PROCESSOR
J.
GONZALEZ-GOMEZ,
E.
AGUAYO,
E.
BOEMO
.
869
EVOLUTIONARY
SYNTHESIS
OF
STRUCTURE
AND
CONTROL
FOR
LOCOMOTION
SYSTEMS
O.
CHOCRON,
N.
BRENER,
PH.
BIDAUD,
F.
B.
AMAR
.
879
KINEMATIC
MODEL
AND
ABSOLUTE
GAIT
SIMULATION
OF
A
SIX
LEGGED
WALKING
ROBOT
G.
FIGLIOLINI,
V.
RIPA
.
889
PART
VIII
CLIMBING
AND
NAVIGATION
SIMULATION
OF
CLIMBING
ROBOTS
USING
UNDERPRESSURE
FOR
ADHESION
C.
HILLENBRAND,
J.
WETTACH,
K.
BERNS
.
899
TECHNIQUE
FOR
A
SIX-LEGGED
WALKER
CLIMBING
A
HIGH
SHELF
BY
USING
A
VERTICAL
COLUMN
YU.
F.
GOLUBEV,
V.V.
KORIANOV
.
909
INVERSEKINEMATIC/DYNAMICANALYSISOFANEW4-DOFHYBRID
(SERIAL-PARALLEL)
POLE
CLIMBING
ROBOT
MANIPULATOR
M.R.
ZAKERZADEH,
M.
TAVAKOLI,
G.R.
VOSSOUGHI,
S.
BAGHERI
.
919
CLIMBING
WITHOUT
A
VACUUM
PUMP
WERNER
BROCKMANN,
FLORIAN
M¨OSCH
.
935
ROBOCLIMBER:
CONTROL
SYSTEM
ARCHITECTURE
S.
NABULSI,
H.
MONTES,
M.
ARMADA
.
943
CONTENTS
XXIII
NAVIGATION
OF
WALKING
ROBOTS:
LOCALISATION
BY
ODOMETRY
B.
GASSMANN,
J.M.
Z¨OLLNER,
R.
DILLMANN
.
953
TOWARDS
PENETRATION-BASED
CLAWED
CLIMBING
WILLIAM
R.
PROVANCHER,
JONATHAN
E.
CLARK,
BILL
GEISLER,
MARK
R.
CUTKOSKY
.
961
MOTION
PLANNING
FOR
A
LEGGED
VEHICLE
BASED
ON
OPTICAL
SENSOR
INFORMATION
RICHARD
BADE,
ANDR´E
HERMS,
THOMAS
IHME
.
971
DEVELOPING
CLIMBING
ROBOTS
FOR
EDUCATION
K.
BERNS,
T.
BRAUN,
C.
HILLENBRAND,
T.
LUKSCH
.
981
ROBUST
LOCALISATION
SYSTEM
FOR
A
CLIMBING
ROBOT
ANDR´E
MARTINS,
LINO
MARQUES,
A.T.
DE
ALMEIDA
.
989
ROBOCLIMBER:
PROPOSAL
FOR
ONLINE
GAIT
PLANNING
M.
MORONTI,
M.
SANGUINETI,
M.
ZOPPI,
R.
MOLFINO
.
997
ADHESION
CONTROL
FOR
THE
ALICIA
3
CLIMBING
ROBOT
D.
LONGO,
G.
MUSCATO
.
1005
PART
IX
APPLICATIONS
IN
SERVICE
INSPECTION
ROBOTIZED
TOOL
FOR
TANKS
FILLED
WITH
HAZARDOUS
LIQUIDS
-
ROBTANK
INSPEC
A.
CORREIA
CRUZ,
M.
SILVA
RIBEIRO
.
1019
SIRIUSC
-
FACADE
CLEANING
ROBOT
FOR
A
HIGH
RISE
BUILDING
IN
MUNICH,
GERMANY
N.
ELKMANN,
D.
KUNST,
T.
KRUEGER,
M.
LUCKE,
T.
B¨OHME,
T.
FELSCH,
T.
ST¨URZE
.
1033
IN-PIPE
MICROROBOT
WITH
INERTIAL
MOOD
OF
MOTION
G.
G.
RIZZOTO,
M.
VELKENKO,
P.
AMATO,
V.
GRADETSKY,
S.
BABKIROV,
M.
KNYAZKOV,
V.
SOLOVTOV
.
1041
THE
LAYER-CROSSING
STRATEGY
OF
CURVED
WALL
CLEANING
ROBOT
R.
LIU,
J.
HENG,
G.
ZONG
.
1053
PNEUMATIC
CLIMBING
ROBOTS
FOR
GLASS
WALL
CLEANING
HOUXIANGZHANG,
JIANWEIZHANG,
RONGLIU,
WEIWANG,
GUANGHUAZONG
.
1061
XXIV
CONTENTS
DESIGN
AND
PROTOTYPING
OF
A
HYBRID
POLE
CLIMBING
AND
MANIPULATING
ROBOT
WITH
MINIMUM
DOFS
FOR
CONSTRUCTION
AND
SERVICE
APPLICATIONS
M.
TAVAKOLI,
M.R.
ZAKERZADEH,
G.R.
VOSSOUGHI,
S.
BAGHERI
.
1071
PART
X
INNOVATIVE
SYSTEMS
DESIGN
AND
CONTROL
OF
A
MANIPULATOR
FOR
LANDMINE
DETECTION
E.
GARCIA,
P.
GONZALEZ
DE
SANTOS
.
1083
INTERACTIONS
BETWEEN
HUMAN
AND
ROBOT
-
CASE
STUDY:
WORKPARTNER-ROBOT
IN
THE
ISR
2004
EXHIBITION
S.
YL¨ONEN,
M.
HEIKKIL¨A,
P.
VIREKOSKI
.
1091
ROBUST
PLATFORM
FOR
HUMANITARIAN
DEMINING
LINO
MARQUES,
SVETLANA
LARIONOVA,
A.T.
DE
ALMEIDA
.
1097
CO-OPERATIVE
SMELL-BASED
NAVIGATION
FOR
MOBILE
ROBOTS
C.
LYTRIDIS,
G.S.
VIRK,
E.E.
KADAR
.
1107
A
LOCALIZATION
ALGORITHM
FOR
OUTDOOR
TRAJECTORY
TRACKING
WITH
LEGGED
ROBOTS
J.A.
COBANO,
J.
ESTREMERA,
P.
GONZALEZ
DE
SANTOS
.
1119
SIT
TO
STAND
TRANSFER
ASSISTING
BY
AN
INTELLIGENT
WALKING-AID
P.
M´ED`ERIC,
V.
PASQUI,
F.
PLUMET,
P.
BIDAUD
.
1127
PART
XI
CLAWAR
NETWORK
WORKPACKAGES
CLAWAR
MODULARITY
-
DESIGN
TOOLS
G.S.
VIRK
.
1139
INTERACTION
SPACE
ANALYSIS
FOR
CLAWAR
WP5
SOCIETAL
NEEDS
M.
ARMADA,
M.
PRIETO
.
1147
CLAWAR
WP3
APPLICATIONS:
NATURAL/OUTDOOR
AND
UNDERWATER
ROBOTS
D.
LONGO,
G.
MUSCATO
.
1159
CONTENTS
XXV
CLAWAR
2
WORK
PACKAGE
6
(WP6)
-
ASSESSMENT
YEAR
2,
MAY
2004.
ECONOMIC
PROSPECTS
FOR
MOBILE
ROBOTIC
SYSTEMS
-
EXPLOITATION
AND
RISK
H.A.
WARREN,
N.J.
HEYES
.
1171
INDEX
.
1191 |
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| publisher | Springer |
| record_format | marc |
| spelling | Climbing and walking robots proceedings of the 7th International Conference CLAWAR 2004 Manuel Armada ; Pablo González de Santos. [CSIC] Berlin ; Heidelberg ; New York Springer 2005 1 Online-Ressource (XXV, 1194 S.) Ill., graph. Darst. txt rdacontent c rdamedia cr rdacarrier Literaturangaben Schreitroboter (DE-588)4281192-2 gnd rswk-swf Kletterroboter (DE-588)4571071-5 gnd rswk-swf (DE-588)1071861417 Konferenzschrift 2004 Madrid gnd-content Kletterroboter (DE-588)4571071-5 s DE-604 Schreitroboter (DE-588)4281192-2 s Armada, Manuel edt Consejo Superior de Investigaciones Científicas Sonstige (DE-588)36416-2 oth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines 7 2004 Madrid Sonstige (DE-588)6039442-0 oth https://doi.org/10.1007/3-540-29461-9 Verlag Volltext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=016299189&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Climbing and walking robots proceedings of the 7th International Conference CLAWAR 2004 Schreitroboter (DE-588)4281192-2 gnd Kletterroboter (DE-588)4571071-5 gnd |
| subject_GND | (DE-588)4281192-2 (DE-588)4571071-5 (DE-588)1071861417 |
| title | Climbing and walking robots proceedings of the 7th International Conference CLAWAR 2004 |
| title_auth | Climbing and walking robots proceedings of the 7th International Conference CLAWAR 2004 |
| title_exact_search | Climbing and walking robots proceedings of the 7th International Conference CLAWAR 2004 |
| title_exact_search_txtP | Climbing and walking robots proceedings of the 7th International Conference CLAWAR 2004 |
| title_full | Climbing and walking robots proceedings of the 7th International Conference CLAWAR 2004 Manuel Armada ; Pablo González de Santos. [CSIC] |
| title_fullStr | Climbing and walking robots proceedings of the 7th International Conference CLAWAR 2004 Manuel Armada ; Pablo González de Santos. [CSIC] |
| title_full_unstemmed | Climbing and walking robots proceedings of the 7th International Conference CLAWAR 2004 Manuel Armada ; Pablo González de Santos. [CSIC] |
| title_short | Climbing and walking robots |
| title_sort | climbing and walking robots proceedings of the 7th international conference clawar 2004 |
| title_sub | proceedings of the 7th International Conference CLAWAR 2004 |
| topic | Schreitroboter (DE-588)4281192-2 gnd Kletterroboter (DE-588)4571071-5 gnd |
| topic_facet | Schreitroboter Kletterroboter Konferenzschrift 2004 Madrid |
| url | https://doi.org/10.1007/3-540-29461-9 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=016299189&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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