Advances in Climbing and Walking Robots

by Xie, Ming; Dubowsky, Steven; Fontaine, Jean-guy; Tokhi, M. Osman; Virk, Gurvinder S.

• ISBN13: 9789812708151
• ISBN10: 9812708154
• Format: Hardcover
• Copyright: 2007-07-11
• Publisher: World Scientific Pub Co Inc

Table of Contents

Bipedal humanoid robot and its applications	p. 3
Climbing up the wall	p. 5
From micro to nano and swarm robots	p. 15
Climbing robots for nondestructive testing : historical perspective and future trends	p. 25
Biomechanics and robotics	p. 33
A CPG with force feedback for a statically stable quadruped gait	p. 37
A sliding sock locomotion module for a rescue robot	p. 47
A wheeled wall-climbing robot with a climbing leg	p. 55
An evolved neural network for fast quadrupedal locomotion	p. 65
Autonomous climbing motions for connected crawler robots	p. 73
Controlling an actively articulated suspension vehicle for mobility in rough terrain	p. 81
Design and construction of a rope climbing robot	p. 91
Design of a new leg mechanism for a wheeled wall climbing robot	p. 99
Development of a climbing robot for inspection of long weld lines	p. 105
Development of a sealing system for a climbing robot with negative pressure adhesion	p. 115
Development of a suction type miniature climbing robot with minimal actuators	p. 125
Development of an amphibious hexapod robot based on a water strider	p. 135
Development of an omni-directional mobile robot based on snail locomotion	p. 144
Gait parameter adaptation to environmental perturbations in quadrupedal robots	p. 153
Intelligent spider walking robot for rough terrain	p. 161
Kinematics, sensors and control of the fully automated facade cleaning robot Siriusc for the Fraunhofer headquarters building, Munich	p. 169
On four legs towards flexible and fast locomotion	p. 177
On the design of a four-bar mechanism for obstacles climbing wheels	p. 185
Path planning for the "3DCLIMBER"	p. 193
Robot for motion in tube	p. 203
Robotrain as snakelike robotic system with minimal number of DOF	p. 211
Servicing solar power plants with wallwalker	p. 219
Stability and gait optimization of a hybrid legged-wheeled rover	p. 226
Terrain-adaptive locomotion of a wheel-legged service robot using actuator-based force measurements	p. 234
Control of quadruped walking robot based on biologically inspired approach	p. 242
The improvement of structural and real time control performances for mero modular walking robots	p. 252
A basic variables set based scheme of online motion planning for humanoid robots	p. 263
A hopping mobility concept for a rough terrain search and rescue robot	p. 271
A proposal for bipedal locomotion using gyroscopic effect	p. 281
A self-adjusting universal joint controller for standing and walking legs	p. 289
A step towards pneumatically actuated biped locomotion : a bio inspired platform for stiffness control	p. 299
Autonomous bipedal gait adjustment under perturbations	p. 309
Design and problems of a new leg-wheel walking robot	p. 319
Stiffness and duty factor models for the design of running bipeds	p. 329
Constraint based trajectory simplification of full body trajectories for a walking robot	p. 340
Foot planning motion of humanoid robot RH-1 using lag algorithm	p. 347
Gain property for biped walking via leg length variation	p. 357
Leg control for changing locomotion between leg-type and wheel-type based on effective use of total power	p. 365
Movement simulation for mero modular walking robot	p. 373
Trajectory generator for rhythmic motion control of robot using neural oscillators	p. 383
Observer-based control of a walking biped robot : stability analysis	p. 393
Optimization of humanoid robot motion during elevation of an object	p. 402
Postural stability control for robot-human cooperation for sit-to-stand assistance	p. 408
Research on underactuated dynamical walking of 3D biped robot	p. 417
Rotopod : a novel approach to efficient legged locomotion	p. 427
The design of a humanoidal biped for the research on the gait pattern generators	p. 435
Thinking about bounding and galloping using simple models	p. 445
Using optimization techniques for the design and control of fast bipeds	p. 454
Using virtual model control and genetic algorithm to obtain stable bipedal walking gait through optimizing the ankle torque	p. 466
Walker system with assistance device for standing-up	p. 475
A distributed embedded control architecture for humanoid soccer robots	p. 487
Design of a humanoid soccer robot : Wukong	p. 497
Formulation of desired zero moment point trajectory using statistical method	p. 506
Locomotion control scheme for fast walking humanoid soccer robot	p. 515
Optimum performance of the fast walking humanoid soccer robot : experimental study	p. 523
A biologically inspired architecture for control of grasping movements of an anthropomorphic gripper	p. 533
A concurrent planning algorithm for dual-arm systems	p. 541
A modular approach for controlling mobile robots	p. 547
A self organizing network model for Clawar system communication coevolution	p. 555
An approach to global localization problem using mean shift algorithm	p. 565
Asynchronous local positioning system based on ultrasonic active beacons and feed forward neural networks	p. 575
Contact processing in the simulation of Clawar	p. 583
Creating a gesture recognition system based on shirt shapes	p. 591
Design and development of micro-gripping devices for manipulation of micro-parts	p. 599
Designing of a command shaper using multi-objective particle swarm algorithm for vibration control of a single-link flexible manipulator system	p. 607
Detecting sound sources with the humanoid robot RH-1	p. 615
In search of principles of odour source localisation	p. 623
GA tuned closed-loop control of spring brake orthosis	p. 632
Hidden Markov model based fuzzy controller for flexible-link manipulator	p. 642
HIL/SIL by development of six-legged robot SLAIR2	p. 652
Improving power to weight ratio of pneumatically powered legged robots	p. 662
Integrated intelligent Mechrobot system	p. 670
MCA2- an extensible modular framework for robot control applications	p. 680
Motion estimation and self-localization based on computer vision and artificial marker deposition	p. 690
New standards for new robots	p. 698
Parallel particle swarm optimization for networked Clawar system cooperation	p. 708
Performance metrices for improving human-robot interaction	p. 716
Real-time computational complexity of the algorithms for a single link manipulator system	p. 726
Software and communication infrastructure design of the humanoid robot RH-1	p. 736
Sparbot - a robotic focus mitt training platform	p. 744
Actuators and orthoses to assist FES-cycling	p. 752
A novel miniature attitude measurement system for climbing and walking robots	p. 761
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