Virk Climbing and Walking Robots

Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2005)
1. Auflage 2006
ISBN: 978-3-540-26415-6
Verlag: Springer-Verlag
Format: PDF
Kopierschutz: Adobe DRM (»Systemvoraussetzungen)

E-Book, Englisch, 1111 Seiten

The interest in climbing and walking robots (CLAWAR) has intensified in recent years, and novel solutions for complex and very diverse applications have been anticipated by means of significant progress in this area of - botics. Moreover, the amalgamation of original ideas and related inno- tions, search for new potential applications and the use of state of the art support technologies permit to foresee an important step forward and a significant socio-economic impact of advanced robot technology in the - ture. This is leading to the creation and consolidation of a mobile service robotics sector where most of the robotics activities are foreseen in the - ture. The technology is now maturing to become of real benefit to society and methods of realizing this potential quickly are being eagerly explored. Robot standards and modularity are key to this and form key components of the research presented here. CLAWAR 2005 is the eighth in a series of international conferences - ganised annually since 1998 with the aim to report on latest research and development findings and to provide a forum for scientific discussion and debate within the mobile service robotics community. The series has grown in its popularity significantly over the years, and has attracted - searchers and developers from across the globe. The CLAWAR 2005 p- ceedings reports state of the art scientific and developmental findings p- sented during the CLAWAR 2005 conference in 131 technical presentations by authors from 27 countries covering the five continents.

Autoren/Hrsg.

Virk, G.S.

Inhaltsverzeichnis

1;Preface;5
2;Contents;7
3;Plenary Papers;19
3.1;Common Situation Awareness as Basis for Human- Robot Interface;20
3.1.1;Abstract;20
3.1.2;1 Introduction;21
3.1.3;2 Robot used to illustrate the concept;23
3.1.4;5. Spatial awareness;27
3.1.5;6. Common presence and how to build it;28
3.1.6;7. Devices and means for interaction;30
3.1.7;8. Conclusions and discussion;34
3.1.8;References;35
3.2;Space Robotics;44
3.2.1;Abstract;44
3.2.2;1 Rationale for Space Robotics;45
3.2.3;2 Architecture of a Space Robot System;47
3.2.4;3 Orbital Robotics;48
3.2.5;4 Planetary Robotics;52
3.2.6;5 Conclusions;53
3.2.7;6 References;54
4;Bio-Engineering and Biological Inspired Systems;55
4.1;ASYSTENT - Control System of a Manipulator for;56
4.2;Keyhole Surgery1;56
4.2.1;Abstract;56
4.2.2;1. Introduction;56
4.2.3;2. Telerobotic system - ASYSTANT;57
4.2.4;3. Experimental results;61
4.2.5;4. Conclusions;62
4.2.6;References;63
4.2.7;Abstract;72
4.2.8;1 Introduction;72
4.3;Fuzzy Logic Control Strategy for Functional Electrical Stimulation in Bipedal Cycling;72
4.3.1;2 Methods;73
4.3.2;3 Control strategy;74
4.3.3;4 Results;76
4.3.4;5 Conclusion;77
4.3.5;References;79
4.3.6;Abstract;80
4.3.7;1 Introduction;80
4.4;Insect-inspired, Actively Compliant Hexapod Capable of Object Manipulation;80
4.4.1;2 Mechanical System;81
4.4.2;3 Electrical System;83
4.4.3;4 Software System;84
4.4.4;5 System Performance;86
4.4.5;Acknowledgements;87
4.4.6;References;87
4.4.7;Abstract;88
4.4.8;1 Introduction;88
4.5;Modeling and Simulation of Humanoid Stair Climbing;88
4.5.1;2 Model development;89
4.5.2;3 Gait analysis;90
4.5.3;4 Control strategy;91
4.5.4;5 Conclusion;94
4.5.5;References;95
4.5.6;Abstract;96
4.6;Design Issues of Spring Brake Orthosis: Evolutionary Algorithm Approach;96
4.6.1;1 Introduction;97
4.6.2;2 Method;98
4.6.3;3 Results;100
4.6.4;4 Discussion and conclusion;102
4.6.5;Reference;103
4.6.6;Abstract;104
4.6.7;1 Introduction;104
4.7;Recent Developments in Implantable and Surface Based Dropped Foot Functional Electrical Stimulators;104
4.7.1;2 Selective surface stimulator;106
4.7.2;3 Implantable stimulators;107
4.7.3;4 Discussion and Conclusions;110
4.7.4;Acknowledgements;111
4.7.5;References;111
4.7.6;Abstract;112
4.7.7;1 Introduction;112
4.8;Fluidically Driven Robots with Biologically Inspired Actuators;112
4.8.1;2 Applications;113
4.8.2;3 Conclusions;118
4.8.3;Acknowledgements;118
4.8.4;References;118
5;Climbing, Navigation and Path Planning;120
5.1;Concept for Energy-autarkic, Autonomous Climbing Robots;121
5.1.1;Abstract;121
5.1.2;1. Introduction;121
5.1.3;2. Climbing with passive suction cups;122
5.1.4;3 Behavior of passive suction cups;124
5.1.5;4. General design considerations;126
5.1.6;References;128
5.2;A Robot that Climbs Walls using Micro-structur Polymer Fee;145
5.2.1;Abstract;145
5.2.2;1 Introduction;145
5.2.3;2 Mini-Whegs™;146
5.2.4;3 Bio-inspired Materials;147
5.2.5;4 Robotic Climbing Failure Modes;149
5.2.6;5 Robot Performance;150
5.2.7;6 Discussion;151
5.2.8;Acknowledgements;152
5.2.9;References;152
5.3;Novel Solutions to Design Problems of Industrial Climbing Robots;153
5.3.1;Abstract;153
5.3.2;1. Introduction;154
5.3.3;2. Interference of an umbilical with robot mobility and dynamics and the solution;155
5.3.4;3. A low traveling speed of a robot and the solution;156
5.3.5;4. Unforeseen variations of surface curvature of objects and the solution;157
5.3.6;5. Intrinsic safety requirement in flammable environments and the solution;158
5.3.7;6. Conclusion;159
5.3.8;Acknowledgements;160
5.3.9;References;160
5.4;Fast Pointing and Tracking System for Mobile Robot Short Range Control via Free Space Optical Laser Line of Sight Communication Link;161
5.4.1;Abstract;161
5.4.2;1 Introduction;161
5.4.3;2 The Pointing and Tracking System;162
5.4.4;3 Control Design;164
5.4.5;3 System Tests and Performance;166
5.4.6;4 Conclusions;167
5.4.7;References;168
6;Control of CLAWAR;169
6.1;Research on Obstacle-navigation Control of a Mobile Robot for Inspection of the Power Transmission Lines Based on Expert System;186
6.1.1;Abstract;186
6.1.2;1 Introduction;186
6.1.3;2 Kinematics Model of inspection robot;188
6.1.4;3 Development of the robot control system based on an;189
6.1.5;expert system;189
6.1.6;4 Experiment;192
6.1.7;5 Conclusion;192
6.1.8;Acknowledgements;193
6.1.9;References;193
6.2;Measure of the Propulsion Dynamic Capability of a Walking System;194
6.2.1;Abstract;194
6.2.2;1 Introduction;194
6.2.3;2 Dynamic propulsion criteria;195
6.2.4;3 Dynamic propulsion potential;196
6.2.5;4 Control strategy;198
6.2.6;5 Conclusion and perspectives;200
6.2.7;References;201
6.3;Hip Joint Control of a Legged Robot for Walking Uniformly and the Self-lock Mechanism for Compensating Torque Caused by Weight;210
6.3.1;Abstract;210
6.3.2;1 Introduction;210
6.3.3;2 Hip joint control for a designated speed;211
6.3.4;3. Self-lock force by using worms and worm wheels;214
6.3.5;4 Smart combination of the worm gearing mechanism;215
6.3.6;5 Experiments for verifying the speed and the self-lock;216
6.3.7;6 Concluding remarks;217
6.3.8;References;217
6.3.9;Abstract;242
6.3.10;1 Introduction;242
6.4;Bus Communication in Robot System Control;242
6.4.1;2 The approach solution;243
6.4.2;3 Bus synchronization;245
6.4.3;4 Bus access arbitration;247
6.4.4;5 Bus connected devices addressing;247
6.4.5;6 Conclusions;248
6.4.6;References;249
6.4.7;Abstract.;258
6.4.8;1 Introduction;258
6.5;Model and Control of Joints Driven by Fluidic Muscles with the Help of Advanced Automatic Algorithm Generation Software;258
6.5.1;2 Model of a joint driven by fluidic muscles;259
6.5.2;3 Modelling and control of the elastic joint using the;262
6.5.3;EICAS-Lab software tool;262
6.5.4;4 Conclusion and outlook;265
6.5.5;Acknowledgments;265
6.5.6;References;265
6.5.7;Abstract;282
6.5.8;1 Introduction;282
6.6;Control Architecture and Walking Strategy for a Pneumatic Biped Robot;282
6.6.1;2 Mechanical Overview;283
6.6.2;3 Kinematics and Kinetic Analysis;284
6.6.3;4 Locomotion Strategy;287
6.6.4;3 Experimental Results and Conclusions;288
6.6.5;References;289
6.6.6;Abstract;290
6.6.7;1 Introduction;290
6.7;Time-scaling Control of a Compass Type Biped Robot;290
6.7.1;2 Dynamic modelling of the compass gait;291
6.7.2;3 The controller;292
6.7.3;5 Simulation results;294
6.7.4;6 Experimental results;295
6.7.5;7 Conclusion;297
6.7.6;References;297
7;Design Methodology and Gait Generation;298
7.1;Integrated Structure-control Design of Dynamically Walking Robots;307
7.1.1;Abstract;307
7.1.2;1 Introduction;307
7.1.3;2 Integrated structure-control design approach;308
7.1.4;3 Design optimisation scheme;309
7.1.5;4 Case studies;310
7.1.6;5 Conclusions;314
7.1.7;References;314
7.2;Intuitive Design and Gait Analysis for a Closed Loop Leg Mechanism of a Quadruped with Single Actuator;315
7.2.1;Abstract;315
7.2.2;1 Introduction;315
7.2.3;2 Basic leg design and kinematical analyses;316
7.2.4;3 Engineering details;319
7.2.5;4 Foot trajectory;319
7.2.6;5 Gait analyses;319
7.2.7;6 Comparison between configurations A and B;320
7.2.8;7 Conclusion and scope of work;321
7.2.9;Acknowledgements;322
7.2.10;References;322
7.3;Design of a Cockroach-like Running Robot for the 2004 SAE Walking Machine Challenge;323
7.3.1;Abstract;323
7.3.2;1 Introduction;323
7.3.3;2 Problem statement;324
7.3.4;3 Design inspiration;324
7.3.5;4 Simulations;325
7.3.6;5 Mechanical system;326
7.3.7;6 Control system;327
7.3.8;7 Performances;328
7.3.9;8 Future work;329
7.3.10;9 Conclusion;329
7.3.11;Acknowledgements;329
7.3.12;References;329
7.4;Finding Adequate Optimization Criteria to Solve Inverse Kinematics of Redundant Bird Leg Mechanism;331
7.4.1;Abstract;331
7.4.2;1 Introduction;331
7.4.3;2 Kinematics and Biological analysis;332
7.4.4;3 Data exploitation;333
7.4.5;4 Solving the inverse kinematics model;335
7.4.6;5 Simulations and results;336
7.4.7;6 Conclusion;338
7.4.8;References;338
7.5;Integrated System of Assisted Mechatronic Design for Oriented Computer to Automatic Optimising of Structure of Service Robots (SIDEMAR) ;339
7.5.1;Abstract;339
7.5.2;1 Introduction;340
7.5.3;2 The methodology;342
7.5.4;3 Conclusions;345
7.5.5;References;345
7.6;Application of Waves Displacement Algorithms for the Generation of Gaits in an All Terrain Hexapod;355
7.6.1;Abstract;355
7.6.2;1 Introduction;355
7.6.3;2 The periodic gait generation algorithm;356
7.6.4;3 Rough terrain gait algorithm;358
7.6.5;References;360
7.7;Extensive Modeling of a 3 DOF Passive Dynamic Walker;361
7.7.1;Abstract;361
7.7.2;1 Introduction;361
7.7.3;2 Dynamic model;362
7.7.4;3 Extensive modeling;363
7.7.5;4 Simulation results;365
7.7.6;Acknowledgements;368
7.7.7;References;368
7.8;Development of Biped Robots at the National University of Colombia;369
7.8.1;Abstract;369
7.8.2;1 Introduction;369
7.8.3;2 Design methodology;370
7.8.4;3 Dynamic models for biped walkers;371
7.8.5;4 Three biped robots;374
7.8.6;Acknowledgements;376
7.8.7;References;376
8;Hopping and Legged Robots;385
8.1;Standing up with Motor Primitives;394
8.1.1;Abstract;394
8.1.2;1 Introduction;394
8.1.3;2 Classification of vocabularies;395
8.1.4;3 A measure for behavioural diversity;397
8.1.5;4 Experiments;398
8.1.6;5 Results;399
8.1.7;6 Conclusion;400
8.1.8;References;401
8.2;Multiple Terrain Adaptation Approach Using Ultrasonic Sensors for Legged Robots;402
8.2.1;1 Introduction;402
8.2.2;2 Body/Ground Distance Control;404
8.2.3;3 Soil Properties Analysis;406
8.2.4;4 Multiple Terrain Adaptation and Obstacle Avoidance;407
8.2.5;5 Conclusions;408
8.3;Sliding Mode Observer with o Orientation Measurement for a Walking Biped N;410
8.3.1;1 Abstract;410
8.3.2;2 Introduction;410
8.3.3;3 Model of the biped;411
8.3.4;4 Control law;412
8.3.5;5 Second-order sliding mode observer;413
8.3.6;6 Stability and angular moment;415
8.3.7;7 Conclusion;416
9;Humanoid Robots;418
9.1;Development of a Low-Cost Humanoid Robot: Components and Technological Solutions;427
9.1.1;Abstract;427
9.1.2;1 Introduction;427
9.1.3;2 Mechanical Structure for the Robot;429
9.1.4;3 Motors and Batteries;430
9.1.5;4 Sensors;432
9.1.6;5 Control system architecture;432
9.1.7;6 Conclusions and perspectives;434
9.1.8;References;434
9.2;Analysis of Humanoid Robot Lower Extremities Force Distribution in Standing Position;435
9.2.1;Abstract;435
9.2.2;1 Introduction;435
9.2.3;2 Kinematics and physical model of the robot leg;437
9.2.4;3 Force distribution analysis;438
9.2.5;4 Experimental results;439
9.2.6;5 Conclusions;441
9.2.7;Acknowledgements;441
9.2.8;References;442
9.3;ZMP Human Measure System;443
9.3.1;Abstract;443
9.3.2;1 Introduction;443
9.3.3;2 Dynamic human walking model;444
9.3.4;3 Hardware system;445
9.3.5;4 Interface;448
9.3.6;5 Experimental results;448
9.3.7;6 Conclusions;450
9.3.8;References;450
9.4;Advanced Motion Control System for the Humanoid Robot Rh-0;459
9.4.1;Abstract;459
9.4.2;1 Introduction;459
9.4.3;2 Humanoid robot Rh-0;460
9.4.4;3 Control system of Rh-0 robot;461
9.4.5;4 Experiments;465
9.4.6;5 Conclusions;466
9.4.7;References;466
9.5;Humanoid Vertical Jump with Compliant Contact;467
9.5.1;Abstract;467
9.5.2;1 Introduction;467
9.5.3;2 Previous works;468
9.5.4;3 Rigid contact versus a compliant one;471
9.5.5;4 Comparison of compliant contacts;472
9.5.6;5 Conclusions and future works;473
9.5.7;References;474
10;Locomotion;475
10.1;Momentum Compensation for the Dynamic Walk of Humanoids Based on the Optimal Pelvic Rotation;494
10.1.1;Abstract;494
10.1.2;1 Introduction;494
10.1.3;2 Lower Body Analysis Model;496
10.1.4;3 Analysis of Trunk-twistless Walk for Momentum Compensation;498
10.1.5;4 Generation of Optimal Pelvic Rotation;499
10.1.6;5 Evaluation of Humanoid Walk;500
10.1.7;6 Conclusion;500
10.1.8;References;501
10.2;Peristaltic Locomotion: Application to a Worm-like Robot;510
10.2.1;Abstract;510
10.2.2;1 Introduction;510
10.2.3;2 Fundamental of peristaltic locomotion;511
10.2.4;3 Previous work;512
10.2.5;4 Overview of the proposed worm robot;513
10.2.6;5 Locomotion module;513
10.2.7;Conclusions and future work;516
10.2.8;Acknowledgement;516
10.2.9;References;517
10.3;Proposal of 4-leg Locomotion by Phase Change;526
10.3.1;Abstract;526
10.3.2;1 Introduction;526
10.3.3;2 Walking and Running Locomotion.;527
10.3.4;3 Leg Mechanisms;528
10.3.5;4 Change of Locomotion Pattern by Phase Change;530
10.3.6;5 Basic Experiments by Prototype;531
10.3.7;6 Conclusions;533
10.3.8;References;533
10.4;Introducing the Hex-a-ball, a Hybrid Locomotion Terrain Adaptive Walking and Rolling Robot;534
10.4.1;Abstract;534
10.4.2;1 Introduction;534
10.4.3;2 Design of the Hex-A-Ball;535
10.4.4;3 Walking Strategies;537
10.4.5;4 Quasi-Static Rolling Strategies;538
10.4.6;5 Results and Discussion;539
10.4.7;6 Conclusions;541
10.4.8;Acknowledgements;541
10.4.9;References;541
11;Manipulation and Flexible Manipulators;550
11.1;Hybrid Control Scheme for Tracking Performance of a Flexible system;551
11.1.1;Abstract;551
11.1.2;1 Introduction;552
11.1.3;2 Experimental setup;553
11.1.4;3 Hybrid Control Scheme;554
11.1.5;4 Simulation and results;555
11.1.6;5 Conclusions;557
11.1.7;References;558
11.1.8;Abstract;559
11.2;Predesign of an Anthropomorphic Lightweight Manipulator;559
11.2.1;Abstract;575
11.2.2;1 Introduction;575
11.2.3;2 The Flexible manipulator system;576
11.2.4;3 Control Schemes;577
11.2.5;4 Results and discussion;579
11.3;Simulation and Experimental Studies of Hybrid Learning Control with Acceleration Feedback for Flexible Manipulators;575
11.3.1;1 Introduction;575
11.3.2;2 The Flexible manipulator system;576
11.3.3;3 Control Schemes;577
11.3.4;4 Results and discussion;579
11.4;BNN-based Fuzzy Logic Controller for Flexiblelink Manipulator;583
11.4.1;Abstract;583
11.4.2;1 Introduction;583
11.4.3;2 Experimental Rig;584
11.4.4;3 BNN-based Fuzzy Controller;585
11.4.5;4 Experimental Results;588
11.4.6;5 Conclusion;590
11.4.7;References;590
11.5;Design Constraints in Implementing Real-time Algorithms for a Flexible Manipulator System;591
11.5.1;Abstract;591
11.5.2;1 Introduction;591
11.5.3;2 The Flexible Manipulator System;592
11.5.4;3 Algorithm Design;594
11.5.5;4 Experiments and Results;596
11.5.6;5 Conclusion;597
11.5.7;References;598
11.6;Pay-Load Estimation of a 2 DOF Flexible Link Robot;599
11.6.1;Abstract;599
11.6.2;1 Introduction;599
11.6.3;2 Design model of the system;601
11.6.4;3 Simulation experiment;602
11.6.5;4 Conclusions;605
11.6.6;References;606
11.6.7;Abstract;607
11.7;Design of Hybrid Learning Control for Flexible Manipulators: a Multi-objective Optimisation Approach;607
11.7.1;1 Introduction;608
11.7.2;2 The flexible manipulator system;608
11.7.3;3 Control schemes;609
11.7.4;4 The multi-objective genetic algorithm;609
11.7.5;5 Implementations;611
11.7.6;6 Results and discussion;611
11.7.7;7 Conclusion;613
11.7.8;References;614
11.7.9;Abstract;615
11.8;Intelligent Modelling of Flexible Manipulator Systems;615
11.8.1;1 Introduction;616
11.8.2;2 The flexible manipulator system;617
11.8.3;4 The simulation environment;619
11.8.4;5 Conclusion and discussion;620
11.8.5;References;622
11.9;Wafer Handling Demo by SERPC;623
11.9.1;Abstract;623
11.9.2;1 Introduction;623
11.9.3;2 SERPC Modularity;625
11.9.4;3 Wafer Handling Demonstrator;626
11.9.5;4 Conclusions;629
11.9.6;Acknowledgements;630
11.9.7;References;630
11.10;Vision Control for an Artificial Hand;631
11.10.1;Abstract;631
11.10.2;1 Introduction;631
11.10.3;2 General remarks on the applied vision algorithms;632
11.10.4;3 The artificial hand™s construction basics;633
11.10.5;4 Mathematical model of the artificial hand;633
11.10.6;5 Algorithms of vision analysis;635
11.10.7;6 Experiments conducted with the use of the vision;636
11.10.8;system;636
11.10.9;7 Summary;638
12;Modular, Reconfigurable Robots;647
12.1;Methods for Collective Displacement of Modular Self-reconfigurable Robots;648
12.1.1;Abstract;648
12.1.2;1 Introduction;648
12.1.3;2 Simulated robot models;649
12.1.4;3 Reactive algorithms;650
12.1.5;4 The neural network;651
12.1.6;5 Genetic algorithms;653
12.1.7;6 Hybrid systems;653
12.1.8;7 Results;653
12.1.9;8 Conclusion;654
12.1.10;References;655
12.2;Suboptimal System Recovery from Communication Loss in a Multi-robot Localization Scenario using EKF Algorithms;656
12.2.1;Abstract;656
12.2.2;1 Introduction;656
12.2.3;2 Multi-robot localization before any communication loss;657
12.2.4;3 Multi-robot localization with communication failures;658
12.2.5;4 Simulated results;661
12.2.6;5 Conclusion and future work;664
12.2.7;Acknowledgements;665
12.2.8;References;665
12.3;A Modular Reconfigurable Space Robot Concept;666
12.3.1;Abstract;666
12.3.2;1 Introduction;667
12.3.3;2 MR approaches;668
12.3.4;3 Connectivity towards reconfiguration;669
12.3.5;4 Reduced DOF concept:;670
12.3.6;5 Configurations investigated;671
12.3.7;6 Conclusion;672
12.3.8;References;673
13;Modularity and System Architecture;682
13.1;The Modular Walking Machine, Platform for Technological Equipments;683
13.1.1;Abstract;683
13.1.2;1 Introduction;683
13.1.3;2 Static balancing elastic systems;686
13.1.4;3 The synthesis of static balancing elastic systems;686
13.1.5;Conclusions;690
13.1.6;References;690
13.1.7;Abstract;691
13.1.8;1 Introduction;691
13.1.9;2 YaMoR – mechanics and electronics;692
13.1.10;3 Bluetooth – the wireless interface to YaMoR;693
13.1.11;4 Bluemove – controlling YaMoR via Bluetooth;694
13.1.12;5 Exploring locomotion;696
13.1.13;6 Future work;697
13.1.14;Acknowledgements;698
13.1.15;References;698
13.2;On the Development of a Modular External-pipe Crawling Omni-directional Mobile Robot;699
13.2.1;Abstract;699
13.2.2;1 Introduction;699
13.2.3;2 Design Scheme;700
13.2.4;3 Conclusion - Future Work;705
13.2.5;Acknowledgements;706
13.2.6;References;706
13.3;Modularity and Component Reuse at the Shadow Robot Company;707
13.3.1;Abstract;707
13.3.2;1 Introduction;707
13.3.3;2 Reuse in other fields;707
13.3.4;3 Project History reuse;708
13.3.5;4 Pattern of Reuse;711
13.3.6;5 Issues and Lessons we found in doing this;712
13.3.7;5 Classification of levels of reuse;712
13.3.8;6 Some Reusable Components;713
13.3.9;7 Conclusion;714
13.3.10;Acknowledgements;714
13.3.11;References;714
13.4;CLAWAR Design Tools to Support Modular Robot Design;715
13.4.1;Abstract;715
13.4.2;1 Introduction;715
13.4.3;2 Operational environments;717
13.4.4;3 Creation of design concepts;718
13.4.5;4 Rules and regulations;720
13.4.6;5 Analysis tools;720
13.4.7;6 Conclusions;721
13.4.8;Acknowledgements;722
13.4.9;References;722
14;Powering, Actuation, Efficiency;723
14.1;Pneumatic Actuators for Serpentine Robot;724
14.1.1;Abstract;724
14.1.2;1 Introduction;724
14.1.3;2 Review of candidate joint actuators;726
14.1.4;3 Pneumatic actuators;728
14.1.5;4 The Integrated Joint Actuator for serpentine robots;729
14.1.6;5 Conclusions;730
14.1.7;Acknowledgements;731
14.1.8;References;731
14.2;Nontraditional Drives for Walking Robots;732
14.2.1;Abstract;732
14.2.2;1 Introduction;732
14.2.3;2 Design of drives with changing transmission ratio;734
14.2.4;3 Experiments and simulations;737
14.2.5;4 Conclusions;738
14.2.6;Acknowledgments;738
14.2.7;References;739
14.3;Energy Efficiency of Quadruped Gaits;740
14.3.1;Abstract;740
14.3.2;1 Introduction;740
14.3.3;2 Quadruped robot model and control architecture;741
14.3.4;3 Measures for performance evaluation;743
14.3.5;4 Simulation results;743
14.3.6;5 Conclusions;746
14.3.7;References;747
15;Sensing and Sensor Fusion;788
15.1;New Advances on Speckle-velocimeter for Robotized Vehicles;789
15.1.1;Abstract;789
15.1.2;1. Introduction;789
15.1.3;2 The experimental set-up;791
15.1.4;3 Experiment results and discussion;792
15.1.5;Conclusion;796
15.1.6;Acknowledgements;796
15.1.7;References;796
15.2;Information Processing in Reactive Navigation and Fault Detection of Walking Robot;797
15.2.1;Abstract;797
15.2.2;1 Introduction;797
15.2.3;2 Fault detection and classification in a legged robot;798
15.2.4;3 Experimental results;801
15.2.5;Conclusion;804
15.2.6;Acknowledgment;804
15.2.7;References;804
15.3;Intelligent Sensor System and Flexible Gripper for Security Robots;805
15.3.1;Abstract;805
15.3.2;1. Security and surveillance robots;805
15.3.3;2. Intelligent sensor system for security robots;808
15.3.4;3. Flexible Gripper;809
15.3.5;4 Conclusions;812
15.3.6;References;812
15.4;Search Performance of a Multi-robot Team in Odour Source Localisation;813
15.4.1;Abstract;813
15.4.2;1 Introduction;813
15.4.3;2 Navigational Strategies;814
15.4.4;3 Experimental Setup;815
15.4.5;5 Conclusions;819
15.4.6;References;820
15.5;A “T-shirt Based” Image Recognition System;821
15.5.1;Abstract;821
15.5.2;1 Introduction;821
15.5.3;2 Related works;822
15.5.4;3 Development of the “T-shirt based” image recognition system;823
15.5.4.1;3.1 Hardware and software;823
15.5.4.2;3.2 Formulation of the problem;824
15.5.4.3;3.3 First stage: image recognition;825
15.5.4.4;3.4 Second stage: calculating the parameters™ values;826
15.5.4.5;3.5 Experimental results and discussion;827
15.5.5;4 Conclusions;828
15.5.6;References;828
15.6;Object Shape Characterisation using a Haptic Probe;829
15.6.1;Abstract;829
15.6.2;1 Introduction;829
15.6.3;2 Description of the haptic probe system;831
15.6.4;3 Object detection simulation;833
15.6.5;4 Simulation Results;834
15.6.6;5 Conclusion;835
15.6.7;References;836
16;Software and Computer-aided Environments;845
16.1;Simulator for Locomotion Control of the Alicia Climbing Robot;846
16.1.1;Abstract;846
16.1.2;1 Introduction – Description of Alicia;846
16.1.3;2 Alicia Simulator – global description;848
16.1.4;3 Control Algorithms for locomotion;851
16.1.5;4 Conclusion;852
16.1.6;References;853
16.2;A General Platform for Robot Navigation in Natural Environments;854
16.2.1;Abstract;854
16.2.2;1 Introduction;854
16.2.3;2 Vision-based navigation;855
16.2.4;3 A platform for robot navigation;856
16.2.5;4 The user interface for vision-based navigation control;858
16.2.6;5 Navigation experiments;860
16.2.7;6 Conclusions;861
16.2.8;Acknowledgements;861
16.2.9;References;861
16.2.10;Abstract;862
16.3;Simulations of the Dynamic Behavior of a Bipedal Robot with Torso Subjected to External Eisturbances;862
16.3.1;1 Introduction;863
16.3.2;2 Stabilization with a simple trunk with 4 DOFs;863
16.3.3;3 Stabilization with trunk and arms;866
16.3.4;4 Stabilization during handling of an object;868
16.3.5;5 Conclusion;869
16.3.6;References;869
17;System Analysis, Modelling and Simulation;870
17.1;Analysis of the Direct and Inverse Kinematics of ROMA II Robot;871
17.1.1;Abstract;871
17.1.2;1 Introduction;871
17.1.3;2 Direct kinematics;872
17.1.4;3 Inverse kinematics;874
17.1.5;Acknowledgements;876
17.1.6;4 Conclusions;876
17.1.7;References;876
18;Industrial Applications;893
18.1;Machine Vision Guidance System for a Modular Climbing Robot used in Shipbuilding;894
18.1.1;Abstract;894
18.1.2;1 Introduction;894
18.1.3;2 Robot description;896
18.1.4;3 Machine vision guidance system;898
18.1.5;4 Conclusions;900
18.1.6;Acknowledgements;901
18.1.7;References;901
18.2;A Locomotion Robot for Heavy Load Transportation;902
18.2.1;Abstract;902
18.2.2;1 Introduction;902
18.2.3;2 Design concept;903
18.2.4;3 Design of prototype;904
18.2.5;4 Experiments;907
18.2.6;5 Conclusions;909
18.2.7;References;909
18.3;Using Signs for Configuring Work Tasks of Service Robots;910
18.3.1;Abstract;910
18.3.2;1 Introduction;910
18.3.3;2 Previous Research;911
18.3.4;3 Experimental results;912
18.3.5;4 Conclusions;916
18.3.6;References;917
18.4;System for Monitoring and Controlling a Climbing and Walking Robot for Landslide Consolidation;918
18.4.1;Abstract;918
18.4.2;1 Introduction;918
18.4.3;2 CLAWAR Technology Used for Slope/Landslide Consolidation;919
18.4.4;3 Requirements on Robot Technology in Slope/Landslide Consolidation;920
18.4.5;4 Conclusion;925
18.4.6;References;925
19;Non-destructive Testing Applications;926
19.1;Small Inspection Vehicles for Non-Destructive Testing Applications;927
19.1.1;Abstract;927
19.1.2;1 Introduction;927
19.1.3;2 Locomotion and Climbing Mechanism;928
19.1.4;3 NDT method based on MFL inspection;930
19.1.5;4 Experimental Results;931
19.1.6;5 Summary and further work;933
19.1.7;Acknowledgements;933
19.1.8;References;933
19.2;Tanks with a Swimming and Climbing Robot Automated NDT of Floating Production Storage Oil;935
19.2.1;Abstract;935
19.2.2;1 Introduction;935
19.2.3;2 The inspection environment;937
19.2.4;3 Access to welds with a swimming and climbing robot;937
19.2.5;4 NDT requirements and proposed techniques;938
19.2.6;5 Robot Design;940
19.2.7;References;942
19.3;7-axis Arm for NDT of Surfaces with Complex & Unknown Geometry;943
19.3.1;Abstract;943
19.3.2;1 Introduction;943
19.3.3;2 The robotic system;944
19.3.4;3 The advantages of the compilation;947
19.3.5;4 Contact force;949
19.3.6;5. Conclusion;949
19.3.7;Acknowledgements;950
19.3.8;References;950
20;Personal Assistance Applications;951
20.1;Modeling and Control of Upright Lifting Wheelchair;968
20.1.1;Abstract;968
20.1.2;1 Introduction;968
20.1.3;2 Methods;969
20.1.4;3 Results;974
20.1.5;4 Conclusion;975
20.1.6;References;975
20.2;An Application of the AIGM Algorithm to Hand-Posture Recognition in Manipulation;984
20.2.1;Abstract;984
20.2.2;1 Introduction;984
20.2.3;2 Algorithm;986
20.2.4;3 Experimental Results;989
20.2.5;4 Conclusions;991
20.2.6;References;991
21;Security and Surveillance Applications;992
21.1;AirEOD: a Robot for On-board Airplanes Security;993
21.1.1;Abstract;993
21.1.2;1 Introduction;993
21.1.3;2 AirEOD mechatronic design;995
21.1.4;3 AirEOD control system and interface;998
21.1.5;4 Conclusions;999
21.1.6;Acknowledgements;1000
21.1.7;References;1000
22;Space Applications;1019
22.1;Tele-operation, Social and Economic Aspects;1082
22.1.1;Economic Prospects for Mobile Robotic Systems,;1091
22.1.1.1;Abstract;1091
22.1.2;New Modular Components;1091
22.1.2.1;1 Introduction;1092
22.1.2.2;2 Proposed contents of the full assessment paper due;1093
22.1.2.3;2005/2006;1093
22.1.2.4;3 Future applications analysis and summary;1095
22.1.2.5;4 Conclusions;1096
22.1.2.6;Acknowledgements;1097
22.1.2.7;References;1097
22.2;Stimulation Gait Restoration by Functional Electrical;36
22.2.1;Abstract;36
22.2.2;1 Basics of FES;36
22.2.3;2 FES-aided gait;38
22.3;Design Drivers for Robotics Systems in Space;1020
22.3.1;1 Space Applications of Robotics;1020
22.3.1.1;1.1 In-orbit assembly of large space structures.;1020
22.3.1.2;1.2 Inspection and repair of spacecraft.;1022
22.3.1.3;1.3 Salvaging/rendering harmless expended satellites;1022
22.3.1.4;1.4 Planetary exploration;1022
22.3.2;2 Design Drivers for Robotics Systems in Space;1024
22.3.2.1;2.1 Lightweight;1025
22.3.3;3 Conclusion;1027
22.4;A Robotics Task Scheduler - TAPAS;1028
22.4.1;1 Background;1028
22.4.2;2 Description;1029
22.4.3;3 Techniques;1032
22.4.4;4 Conclusion;1032
22.4.5;References;1033
22.5;Mobile Mini-Robots For Space Application;1034
22.5.1;Abstract;1034
22.5.2;1 Solar power from space;1034
22.5.3;2 Furoshiki Net Concept;1035
22.5.4;3 Roby-Sandwich;1037
22.5.5;4 Roby-Insect;1039
22.5.6;5 Conclusion;1040
22.5.7;References;1041
22.6;Teleagents for Exploration and Exploitation in Future Human Planetary Missions;1042
22.6.1;1 Introduction;1042
22.6.2;2 Teleagents for Moon exploration;1044
22.6.2.1;2.1 Exploration robots;1044
22.6.2.2;2.2 Exploitation and construction teleoperators;1046
22.6.3;3 Teleagents for mars exploration;1047
22.6.4;4 Conclusions;1049
22.6.5;References;1049
22.7;An Expandable Mechanism for Deployment and Contact Surface Adaptation of Rover Wheels;1050
22.7.1;1 Introduction;1050
22.7.2;2 Deployable mechanisms;1051
22.7.3;3 Proposed mechanism design;1053
22.7.4;4 Contact geometry adaptation;1055
22.8;A New Traction Control Architecture for Planetary Exploration Robots;1058
22.8.1;Abstract;1058
22.8.2;1 Introduction;1058
22.8.3;2 The IR-TCA on a Planar Robot;1059
22.8.4;3 Results of Simulations;1061
22.8.5;4 The IR-TCA of P6W;1062
22.8.6;5 Conclusion;1065
22.8.7;References;1065
22.9;The Lemur II-Class Robots for Inspection and Maintenance of Orbital Structures: A System Description;1066
22.9.1;Abstract;1066
22.9.2;1 Inspection and Maintenance of Orbital Structures;1067
22.9.3;2 Other Robots Relevant to the Lemur-class Concept;1067
22.9.4;3 Lemur Platform Overview;1068
22.9.5;4 Limbs and Tools;1068
22.9.6;6 Electronics;1070
22.9.7;7 Software Architecture;1071
22.9.8;8 Operational Algorithms;1072
22.9.9;9 Conclusions and Future Work;1072
22.9.10;References;1073
22.10;Lemur IIb: a Robotic System for Steep Terrain Access;1074
22.10.1;1 Untethered climbing on steep terrain;1075
22.10.2;2 Other Robots Relevant to the Lemur IIb Concept;1075
22.10.3;3 Lemur IIb platform overview;1076
22.10.4;4 Climbing end-effectors;1077
22.10.5;5 Operational algorithms;1079
22.10.6;6 Conclusions and future work;1080
22.10.7;References;1081
23;Tele-operation, Social and Economic Aspects;1082
23.1;Robot Virtual Immersion for Tele-Controlling a Hexapod;1083
23.1.1;1 Introduction;1083
23.1.2;2 Test Platform LAURON III;1084
23.1.3;3 The Immersive Virtual Reality System;1085
23.1.4;4 Experiments;1088
23.1.5;5 Conclusion and Outlook;1089
23.2;Economic Prospects for Mobile Robotic Systems, New Modular Components;1091
23.2.1;Abstract;1091
23.2.2;1 Introduction;1092
23.2.3;2 Proposed contents of the full assessment paper due 2005/2006;1093
23.2.4;3 Future applications analysis and summary;1095
23.2.5;4 Conclusions;1096
24;Appendix A: CLAWAR 2005 Organisation;1098
25;Appendix B: CLAWAR 2005 Reviewers;1100
26;Appendix C: CLAWAR 2005 Sponsors & Co-Sponsors;1101
27;Author Index;1102