Armada, Manuel A.
Climbing and Walking Robots
Part I.Plenary Sessions
1. Robot Vision: A Holistic View
Ming Xie
2. What Bipedal Human Locomotion Can Teach Us About Motor Control Synergies for Safe Robotic Locomotion
D.A. Winter
3. Problems of Scale for Walking and Climbing Animals
R. McNeill Alexander
4. Biologically Motivated Control of Walking Machines
R. Dillmann, J. Albiez, B. Gaßmann, T. Kerscher
Part II.Control
5. Integer vs. Fractional Order Control of a Hexapod Robot
Manuel F. Silva, J. A. Tenreiro Machado, António M. Lopes
6. Synchronous Landing Control of a Rotating 4-Legged Robot, PEOPLER, for Stable Direction Change
T. Okada, Y. Hirokawa, T. Sakai, K. Shibuya
7. Neuro-Controllers for Walking Machines — An Evolutionary Approach to Robust Behavior
Joern Fischer, Frank Pasemann, Poramate Manoonpong
8. Decentralized Dynamic Force Distribution for Multi-legged Locomotion
T. Odashima, Z.W. Luo
9. An Outdoor Vehicle Control Method Based Body Configuration Information
Daisuke Chugo, Kuniaki Kawabata, Hayato Kaetsu, Hajime Asama, Taketoshi Mishima
10. Physically Variable Compliance in Running
Jonathan W. Hurst, Alfred A. Rizzi
11. Implementation of a Driver Level with Odometry for the LAURON III Hexapod Robot
J.L. Albarral, E. Celaya
12. Local Positive Velocity Feedback (LPVF): Generating Compliant Motions in a Multi-Joint Limb
Axel Schneider, Holk Cruse, Josef Schmitz
13. Motion Calculation for Human Lower Extremities Based on EMG-Signal-Processing and Simple Biomechanical Model
Christian Fleischer, Konstantin Kondak, Christian Reinicke, Günter Hommel
14. Bifurcating Recursive Processing Elements in Neural Architectures for Applications in Multi-Dimensional Motor Control and Sensory Fusion in Noisy/Uncertain Environments
E. Moral, E. Akira
15. The Effectiveness of Energy Conversion Elements in the Control of Powered Orthoses
S.C. Gharooni, M.O. Tokhi, G.S. Virk
16. Kinematical Behavior Analysis and Walking Pattern Generation of a Five Degrees of Freedom Pneumatic Robotic Leg
G. Muscato, G. Spampinato
17. Artificial Potential Based Control for a Large Scale Formation of Mobile Robots
Wojciech Kowalczyk, Krzysztof Kozlowski
18. Mobile Mini Robots for MAS
M.W. Han, P. Kopacek, B. Putz, E. Sshierer, M. Würzl
19. Two Neural Approaches for Solving Reaching Tasks with Redundant Robots
J. Molina-Vilaplana, J.L. Pedreño-Molina, J. López-Coronado
20. Design and Implementation of Force Sensor for ROBOCLIMBER
H. Montes, S. Nabulsi, M. Armada
21. Detecting Zero-Moment Point in Legged Robot
H. Montes, S. Nabulsi, M. Armada
22. Vision Feedback in Control of a Group of Mobile Robots
Piotr Dutkiewicz, Marcin Kielczewski
Part III.Design
23. Kinematics of a New Staircase Climbing Wheelchair
R. Morales, V. Feliu, A. González, P. Pintado
24. Open Modular Design for Robotic Systems
I. Chochlidakis, Y. Gatsoulis, G.S. Virk
25. Mechanical Design Optimization of a Walking Robot Leg Using Genetic Algorithm
C. Reyes, F. Gonzalez
26. Design Toolset for Realising Robotic Systems
Yiannis Gatsoulis, Ioannis Chochlidakis, Gurvinder S. Virk
27. Design, Dynamic Simulation and Experimental Tests of Leg Mechanism and Driving System for a Hexapod Walking Robot
J. Roca, M. Nogués, S. Cardona
28. Limb-Mechanism Robot with Winch Mechanism
N. Fujiki, Y. Mae, T. Umetani, T. Arai, T. Takubo, K. Inoue
29. Embodiment in Two Dimensions
Christian R. Linder
30. Legged Robot with Articulated Body in Locomotion Over Complex Terrain
Palis, Rusin, Schumucker, Schneider, Zavgorodniy
31. 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
32. Wall Walker: Proposal of Locomotion Mechanism Cleaning Even at the Corner
T. Miyake, H. Ishihara
33. Behaviour Networks for Walking Machines — A Design Method
Jan Albiez, Rudiger Dillmann
34. Biological Inspired Walking — How Much Nature Do We Need?
Jan Albiez, Karstan Berns
Part IV.Sensors, Teleoperation and Telepresence
35. Results of Applying Sensor Fusion to a Control System Using Optic Flow
G. Martinez, V.M. Becerra
36. Novel Method for Virtual Image Generation for Teleoperation
R. Chellali, C. Maaoui, J.G. Fontaine
37. Intelligent Technical Audition and Vision Sensors for Walking Robot Realizing Telepresence Functions
V.E. Pavlovsky, S.A. Polivtseev, T.S. Khashan
38. Learning About the Environment by Analyzing Acoustic Information. How to Achieve Predictability in Unknown Environments? (Part II)
M. Deutscher, M. Katz, S. Krüger, M. Bajbouj
39. Ultrasound Sensor System with Fuzzy Data Processing
J.A. Morgado Gois, M. Hiller
40. Finding Odours Across Large Search Spaces: A Particle Swarm-Based Approach
Lino Marques, A.T. Almeida
41. Vision Feedback in Control of a Group of Mobile Robots
Piotr Dutkiewicz, Marcin Kielczewski
42. Vehicle Teleoperation with a Multisensory Driving Interface
Mario Maza, Santiago Baselga, Jesús Ortiz
43. Approaches to the Generation of Whole Body Motion Sensation in Teleoperation
Mario Maza, Santiago Baselga, Jesús Ortiz
44. Virtual Platform for Land-Mine Detection Based on Walking Robots
A. Ramirez, E. Garcia, P. Gonzalez Santos
45. Vision Computer Tool to Improve the Dependability of Mobile Robots for Human Environments
C. Salinas, L. Pedraza, M. Armada
Part V.Efficiency and Actuation
46. Toward Springy Robot Walk Using Strand-Muscle Actuators
Masakazu Suzuki, Azumi Ichikawa
47. Actuator Sizes in Bio-Robotic Walking Orthoses
S.C. Gharooni, G.S. Virk, M.O. Tokhi
48. The Design and Simulated Performance of an Energy Efficient Hydraulic Legged Robot
Salim Al-Kharusi, David Howard
49. The Modularity of Super Embedded Robotic PC
A. Basile, N. Abbate, C. Guastella, M. Presti, G. Macina
50. Mass Distribution Influence on Power Consumption in Walking Robots
T.A. Guardabrazo, P. Gonzalez Santos
51. Design of Dual Actuator for Walking Robots
Teodor Akinfiev, Roemi Fernandez, Manuel Armada
Part VI.Hopping, Biped and Humanoid Robots
52. Control of a 3-D Hopping Apparatus
V.B. Larin
53. 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
54. Dynamic Stabilization of an Under-Actuated Robot Using Inertia of the Transfer Leg
A. David, O. Bruneau, J.G. Fontaine
55. Kinematic and Dynamic Analyses of a Pantograph-Leg for a Biped Walking Machine
E. Ottaviano, M. Ceccarelli, C. Tavolieri
56. Humanoid Robot Kinematics Modeling Using Lie Groups
J.M. Pardos, C. Balaguer
57. GA Optimisation of the PD Coefficients for the LMBC of a Planar Biped
D. Harvey, G.S. Virk, D. Azzi
58. Three-Dimensional Running is Unstable but Easily Stabilized
Justin E. Seipel, Philip J. Holmes
59. A Biomimetic Approach for the Stability of Biped Robots
Javier Lope, Darío Maravall
60. Parallel Manipulator Hip Joint for a Bipedal Robot
J. Hofschulte, M. Seebode, W. Gerth
61. Gaits Stabilization for Planar Biped Robots Using Energetic Regulation
N.K. M’sirdi, N. Khraief, O. Licer
62. Force Feedback Control Implementation for SMART Non-Linear Actuator
H. Montes, L. Pedraza, M. Armada, T. Akinfiev
63. User Friendly Graphical Environment for Gait Optimization of the Humanoid Robot Rh-0
M. Arbulú, I. Prieto, D. Gutiérrez, L. Cabas, P. Staroverov, C. Balaguer
64. Development of the Light-Weight Human Size Humanoid Robot RH-0
L. Cabas, S. Torre, M. Arbulu, C. Balaguer
65. Human Machine Interface for Humanoid Robot RH-0
I. Prieto, C. Pérez, C. Balaguer
66. Trajectory Planning for the Walking Biped “Lucy”
Jimmy Vermeulen, Dirk Lefeber, Björn Verrelst, Bram Vanderborght
67. Height Control of a Resonance Hopping Robot
Roemi Fernández, Teodor Akinfiev, Manuel Armada
68. Zero Moment Point Modeling Using Harmonic Balance
R. Caballero, M. Armada
69. An Introductory Revision to Humanoid Robot Hands
D. Alba, M. Armada, R. Ponticelli
70. Control Architecture of LUCY, a Biped with Pneumatic Artificial Muscles
B. Vanderborght, B. Verrelst, R. Ham, J. Vermeulen, J. Naudet, D. Lefeber
Part VII.Passive Walking Locomotion Locomotion
71. Stable Walking and Running Robots Without Feedback
Katja D. Mombaur, H. Georg Bock, Johannes P. Schlöder, Richard W. Longman
72. From Passive to Active Dynamic 3D Bipedal Walking — An Evolutionary Approach
Steffen Wischmann, Frank Pasemann
73. First Steps in Passive Dynamic Walking
Martijn Wisse, Arend L. Schwab
74. Controlling Walking Period of a Pneumatic Muscle Walker
Takashi Takuma, Koh Hosoda, Masaki Ogino, Minoru Asada
75. Evolutionary Design of an Adaptive Dynamic Walker
Joachim Haß, J. Michael Herrmann, Theo Geisel
76. The Passivity Paradigm in the Control of Bipedal Robots
Mark W. Spong
77. Ankle Joints and Flat Feet in Dynamic Walking
Daan G.E. Hobbelen, Martijn Wisse
78. 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
79. The Tango of a Load Balancing Biped
Eric D. Vaughan, Ezequiel Paolo, Inman R. Harvey
80. Locomotion Modes of an Hybrid Wheel-Legged Robot
G. Besseron, Ch. Grand, F. Ben Amar, F. Plumet, Ph. Bidaud
81. Stabilizing Dynamic Walking with Physical Tricks
Norbert M. Mayer, Amir A. Forough-Nassiraei, Ziton Hsu, Ferenc Farkas, Thomas Christaller
82. Stability of a Spherical Pendulum Walker
J. Seipel
83. A CLAWAR That Benefits From Abstracted Cockroach Locomotion Principles
T.E. Wei, R.D. Quinn, R.E. Ritzmann
84.
Sangbae Kim, Jonathan E. Clark, Mark R. Cutkosky
85. Locomotion of a Modular Worm-like Robot Using a FPGA-based Embedded MicroBlaze Soft-processor
J. Gonzalez-Gomez, E. Aguayo, E. Boemo
86. Evolutionary Synthesis of Structure and Control for Locomotion Systems
O. Chocron, N. Brener, Ph. Bidaud, F. B. Amar
87. Kinematic Model and Absolute Gait Simulation of a Six-Legged Walking Robot
G. Figliolini, V. Ripa
Part VIII.Climbing and Navigation
88. Simulation of Climbing Robots Using Underpressure for Adhesion
C. Hillenbrand, J. Wettach, K. Berns
89. Technique for a Six-Legged Walker Climbing a High Shelf by Using a Vertical Column
Yu. F. Golubev, V.V. Korianov
90. Inverse Kinematic/Dynamic Analysis of a New 4-DOF Hybrid (Serial-Parallel) Pole Climbing Robot Manipulator
M.R. Zakerzadeh, M. Tavakoli, G.R. Vossoughi, S. Bagheri
91. Climbing Without a Vacuum Pump
Werner Brockmann, Florian Mösch
92. ROBOCLIMBER: Control System Architecture
S. Nabulsi, H. Montes, M. Armada
93. Navigation of Walking Robots: Localisation by Odometry
B. Gaßmann, J.M. Zöllner, R. Dillmann
94. Towards Penetration-based Clawed Climbing
William R. Provancher, Jonathan E. Clark, Bill Geisler, Mark R. Cutkosky
95. Motion Planning for a Legged Vehicle Based on Optical Sensor Information
Richard Bade, André Herms, Thomas Ihme
96. Developing Climbing Robots for Education
K. Berns, T. Braun, C. Hillenbrand, T. Luksch
97. Robust Localisation System for a Climbing Robot
André Martins, Lino Marques, A.T. Almeida
98. Roboclimber: Proposal for Online Gait Planning
M. Moronti, M. Sanguineti, M. Zoppi, R. Molfino
99. Adhesion Control for the Alicia
D. Longo, G. Muscato
Part IX.Applications
100. In Service Inspection Robotized Tool for Tanks Filled with Hazardous Liquids — Robtank Inspec
A. Correia Cruz, M. Silva Ribeiro
101. SIRIUSc — Facade Cleaning Robot for a High-Rise Building in Munich, Germany
N. Elkmann, D. Kunst, T. Krueger, M. Lucke, T. Böhme, T. Felsch, T. Stürze
102. In-Pipe Microrobot with Inertial Mood of Motion
G. G. Rizzoto, M. Velkenko, P. Amato, V. Gradetsky, S. Babkirov, M. Knyazkov, V. Solovtov
103. The Layer-Crossing Strategy of Curved Wall Cleaning Robot
R. Liu, J. Heng, G. Zong
104. Pneumatic Climbing Robots for Glass Wall Cleaning
Houxiang Zhang, Jianwei Zhang, Rong Liu, Wei Wang, Guanghua Zong
105. 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
Part X.Innovative Systems
106. Design and Control of a Manipulator for Landmine Detection
E. Garcia, P. Gonzalez Santos
107. Interactions Between Human and Robot — Case Study: WorkPartner-Robot in the ISR 2004 Exhibition
S. Ylönen, M. Heikkilä, P. Virekoski
108. Robust Platform for Humanitarian Demining
Lino Marques, Svetlana Larionova, A.T. Almeida
109. Co-Operative Smell-Based Navigation for Mobile Robots
C. Lytridis, G.S. Virk, E.E. Kadar
110. A Localization Algorithm for Outdoor Trajectory Tracking with Legged Robots
J.A. Cobano, J. Estremera, P. Gonzalez Santos
111. Sit to Stand Transfer Assisting by an Intelligent Walking-Aid
P. Médèric, V. Pasqui, F. Plumet, P. Bidaud
Part XI.CLAWAR Network Workpackages
112. CLAWAR Modularity — Design Tools
G.S. Virk
113. Interaction Space Analysis for CLAWAR WP5 Societal Needs
M. Armada, M. Prieto
114. CLAWAR WP3 Applications: Natural/Outdoor and Underwater Robots
D. Longo, G. Muscato
115. 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
DRM-restrictions
Printing: not available
Clipboard copying: not available
- Author(s)
- Armada, Manuel A.
- Santos, Pablo González
- Publisher
- Springer
- Publication year
- 2005
- Language
- en
- Edition
- 1
- Category
- Technology, Energy, Traffic
- Format
- Ebook
- eISBN (PDF)
- 9783540294610