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FRONT MATTER
| i |
| Plenary Introduction |
BIPEDAL HUMANOID ROBOTICS AND ITS APPLICATIONS
ATSUO TAKANISHI | 3 |
CLIMBING UP THE WALL
JOHN BILLINGSLEY | 5 |
From Micro to Nano and Swarm Robots
Heinz Wörn, Ramon Estaña, Heiko Hamann and Marc Szymanski | 15 |
CLIMBING ROBOTS FOR NONDESTRUCTIVE TESTING: HISTORICAL PERSPECTIVE AND FUTURE TRENDS
BRYAN BRIDGE | 25 |
BIOMECHANICS AND ROBOTICS
NEVILLE HOGAN | 33 |
| Advances in Climbing Robots |
A CPG WITH FORCE FEEDBACK FOR A STATICALLY STABLE QUADRUPED GAIT
JOSÉ CAPPELLETTO, PABLO ESTÉVEZ, GERARDO FERNANDEZ-LOPEZ and JUAN C. GRIECO | 37 |
A Sliding Sock Locomotion Module for a Rescue Robot
Luca Rimassa, Matteo Zoppi and Rezia Molfino | 47 |
A WHEELED WALL-CLIMBING ROBOT WITH A CLIMBING LEG
YILI FU, ZHIHAI LI, HEJIN YANG and SHUGUO WANG | 55 |
AN EVOLVED NEURAL NETWORK FOR FAST QUADRUPEDAL LOCOMOTION
IRENE MARKELIC and KEYAN ZAHEDI | 65 |
Autonomous Climbing Motions for Connected Crawler Robots
Sho YOKOTA, Yasuhiro OHYAMA, Hiroshi HASHIMOTO, Jin-Hua SHE, Kuniaki KAWABATA, Hisato KOBAYASHI and Pierre BLAZEVIC | 73 |
CONTROLLING AN ACTIVELY ARTICULATED SUSPENSION VEHICLE FOR MOBILITY IN ROUGH TERRAIN
SIDDHARTH SANAN, SARTAJ SINGH and K. MADHAVA KRISHNA | 81 |
DESIGN AND CONSTRUCTION OF A ROPE CLIMBING ROBOT
Juan Pablo Martínez Esponda | 91 |
DESIGN OF NEW LEG MECHANISM FOR A WHEELED WALL CLIMBING ROBOT
YI-LI FU and HE-JIN YANG | 99 |
DEVELOPMENT OF A CLIMBING ROBOT FOR INSPECTION OF LONG WELD LINES
JIANZHONG SHANG, BRYAN BRIDGE, TARIQ P. SATTAR, SHYAMAL MONDAL and ALINA BRENNER | 105 |
DEVELOPMENT OF A SEALING SYSTEM FOR A CLIMBING ROBOT WITH NEGATIVE PRESSURE ADHESION
C. HILLENBRAND, D. SCHMIDT, K. BERNS, T. LEICHNER, T. GASTAUER and B. SAUER | 115 |
Development of a Suction Type Miniature Climbing Robot with Minimal Actuators
M. V. Vignesh and L. Karunamoorthy | 125 |
DEVELOPMENT OF AN AMPHIBIOUS HEXAPOD ROBOT BASED ON A WATER STRIDER
SOH FUJII and TARO NAKAMURA | 135 |
DEVELOPMENT OF AN OMNI-DIRECTIONAL MOBILE ROBOT BASED ON SNAIL LOCOMOTION
KUNIAKI SATOH and TARO NAKAMURA | 144 |
GAIT PARAMETER ADAPTATION TO ENVIRONMENTAL PERTURBATIONS IN QUADRUPEDAL ROBOTS
E. GARCIA, J. ESTREMERA, P. GONZALEZ DE SANTOS and M. ARMADA | 153 |
INTELLIGENT SPIDER (Special Purpose Insectoid Drive Experimental Rover) WALKING ROBOT FOR ROUGH TERRAIN
MICHAEL MCCREADY, LIQIONG TANG and GURVINDER VIRK | 161 |
KINEMATICS, SENSORS AND CONTROL OF THE FULLY AUTOMATED FACADE CLEANING ROBOT SIRIUSC FOR THE FRAUNHOFER HEADQUARTERS BUILDUNG, MUNICH
NORBERT ELKMANN, MARIO LUCKE, TINO KRÜGER, DIETMAR KUNST and THOMAS STÜRZE | 169 |
ON FOUR LEGS TOWARDS FLEXIBLE AND FAST LOCOMOTION
C. KARA, C. HECKHOFF, T. BRANDT and D. SCHRAMM | 177 |
ON THE DESIGN OF A FOUR-BAR MECHANISM FOR OBSTACLES CLIMBING WHEELS
ANTONIO GONZALEZ, ERIKA OTTAVIANO and MARCO CECCARELLI | 185 |
PATH PLANNING FOR THE "3DCLIMBER"
MAHMOUD TAVAKOLI, LINO MARQUES and ANÍBAL T. DE ALMEIDA | 193 |
ROBOT FOR MOTION IN TUBE
JATSUN SERGEY, MISHENKO VLADIMIR and JATSUN ANDREY | 203 |
ROBOTRAIN AS SNAKELIKE ROBOTIC SYSTEM WITH MINIMAL NUMBER OF DOF
V. E. PAVLOVSKY, V. V. PAVLOVSKY, Jr, N. V. PETROVSKAYA and V. V. EVGRAFOV | 211 |
SERVICING SOLAR POWER PLANTS WITH WALLWALKER
RIDHA AZAIZ | 219 |
STABILITY AND GAIT OPTIMIZATION OF A HYBRID LEGGED-WHEELED ROVER
BYRON E. JOHNS and AYANNA M. HOWARD | 226 |
TERRAIN-ADAPTIVE LOCOMOTION OF A WHEEL-LEGGED SERVICE ROBOT USING ACTUATOR-BASED FORCE MEASUREMENTS
PETRI VIREKOSKI and ILKKA LEPPÄNEN | 234 |
Control of Quadruped Walking Robot Based on Biologically Inspired Approach
Tae Hun Kang, Ig Mo Koo, Young Kuk Song, GiaLoc Vo, Tran Duc Trong, Chang Min Lee and Hyouk Ryeol Choi | 242 |
THE IMPROVEMENT OF STRUCTURAL AND REAL TIME CONTROL PERFORMANCES FOR MERO MODULAR WALKING ROBOTS
ION ION, LUIGE VLADAREANU, RADU MUNTEANU, jr and MIHAI MUNTEANU | 252 |
| Advances in Walking Robots |
A BASIC VARIABLES SET BASED SCHEME OF ONLINE MOTION PLANNING FOR HUMANOID ROBOTS
JIAN WANG, TAO SHENG and HONGXU MA | 263 |
A HOPPING MOBILITY CONCEPT FOR A ROUGH TERRAIN SEARCH AND RESCUE ROBOT
SAMUEL KESNER, JEAN-SÉBASTIEN PLANTE, STEVEN DUBOWSKY and PENELOPE BOSTON | 271 |
A PROPOSAL FOR BIPEDAL LOCOMOTION USING GYROSCOPIC EFFECT
PULKIT KAPUR, RAHUL MUKHI and VINAYAK | 281 |
A Self-Adjusting Universal Joint Controller for Standing and Walking Legs
A. Schneider, B. Fischer, H. Cruse and J. Schmitz | 289 |
A STEP TOWARDS PNEUMATICALLY ACTUATED BIPED LOCOMOTION: A BIO INSPIRED PLATFORM FOR STIFFNESS CONTROL
G. MUSCATO and G. SPAMPINATO | 299 |
AUTONOMOUS BIPEDAL WALKING GAIT ADJUSTMENT UNDER PERTURBATIONS
L. YANG, C. M. CHEW and A. N. POO | 309 |
DESIGN AND PROBLEMS OF A NEW LEG-WHEEL WALKING ROBOT
CRISTINA TAVOLIERI, ERIKA OTTAVIANO and MARCO CECCARELLI | 319 |
Stiffness and Duty Factor Models for the Design of Running Bipeds
Muhammad E. Abdallah and Kenneth J. Waldron | 329 |
Constraint Based Trajectory Simplification of Full Body Trajectories for a Walking Robot
Hanns W. Tappeiner and Alfred A. Rizzi | 340 |
FOOT PLANNING MOTION OF HUMANOID ROBOT RH-1 USING LAG ALGORITHM
MARIO ARBULU, LUIS CABAS, DMITRY KAYNOV, PAVEL STAROVEROV and CARLOS BALAGUER | 347 |
GAIN PROPERTY FOR BIPED WALKING VIA LEG LENGTH VARIATION
Tetsuya Kinugasa, Shoichi Miwa, Yannick Aoustin and Christine Chevallereau | 357 |
Leg Control for Changing Locomotion between Leg-type and Wheel-type Designs based on Effective Use of Total Power
Tokuji OKADA, B. Wagner TANAKA and Toshimi SHIMIZU | 365 |
MOVEMENT SIMULATION FOR MERO MODULAR WALKING ROBOT
ION ION, ION SIMIONESCU, ADRIAN CURAJ and ALEXANDRU MARIN | 373 |
Trajectory Generator for Rhythmic Motion Control of Robot using Neural Oscillators
Weiwei Huang, Chee-Meng Chew, Geok-Soon Hong and Nithya Gnanassegarane | 383 |
Observer-based control of a walking biped robot: stability analysis
V. Lebastard, Y. Aoustin and F. Plestan | 393 |
OPTIMIZATION OF HUMANOID ROBOT MOTION DURING THE ELEVATION OF AN OBJECT
HAMED AJABI NAEINI and MOSTAFA ROSTAMI | 402 |
Postural stability control for Robot-Human cooperation for sit-to-stand assistance
V. Pasqui, L. Saintbauzel, P. Bidaud and J. Graefenstein | 408 |
RESEARCH ON UNDERACTUATED DYNAMICAL WALKING OF 3D BIPED ROBOT
TAO SHENG and HONG-XU MA | 417 |
ROTOPOD: A NOVEL APPROACH TO EFFICIENT LEGGED LOCOMOTION
DAMIAN M. LYONS | 427 |
THE DESIGN OF A HUMANOIDAL BIPED FOR THE RESEARCH ON THE GAIT PATTERN GENERATORS
P. KRYCZKA and C. M. CHEW | 435 |
THINKING ABOUT BOUNDING AND GALLOPING USING SIMPLE MODELS
KENNETH J. WALDRON, J. ESTREMERA, PAUL J. CSONKA and S. P. N. SINGH | 445 |
USING OPTIMIZATION TECHNIQUES FOR THE DESIGN AND CONTROL OF FAST BIPEDS
T. LUKSCH, K. BERNS, K. MOMBAUR and G. SCHULTZ | 454 |
Using Virtual Model Control and Genetic Algorithm to Obtain Stable Bipedal Walking Gait Through Optimizing the Ankle Torque
Van-Huan Dau, Chee-Meng Chew and Aun-Neow Poo | 466 |
WALKER SYSTEM WITH ASSISTANCE DEVICE FOR STANDING-UP
D. CHUGO, W. MATSUOKA and K. TAKASE | 475 |
| Advances in Humanoid Soccer Robots |
A Distributed Embedded Control Architecture for Humanoid Soccer Robots
Carlos Antonio Acosta Calderon, Changjiu Zhou, Pik Kong Yue, Mike Wong and Mohan Rajesh Elara | 487 |
Design of a Humanoid Soccer Robot: Wukong
Qing Tang, Rong Xiong, Jian Chu and Xinfeng Du | 497 |
FORMULATION OF DESIRED ZERO MOMENT POINT TRAJECTORY USING STATISTICAL METHOD
LINGYUN HU, CHANGJIU ZHOU, BI WU and TIANWU YANG | 506 |
LOCOMOTION CONTROL SCHEME FOR FAST WALKING HUMANOID SOCCER ROBOT
WEERAYUT SAWASDEE, PASAN KULVANIT and THAVIDA MANEEWARN | 515 |
OPTIMUM PERFORMANCE OF THE FAST WALKING HUMANOID SOCCER ROBOT: EXPERIMENTAL STUDY
PASAN KULVANIT, BANTOON SRISUWAN and DJITT LAOWATTANA | 523 |
| Supporting Technologies |
A BIOLOGICALLY INSPIRED ARCHITECTURE FOR CONTROL OF GRASPING MOVEMENTS OF AN ANTHROPOMORPHIC GRIPPER
S. VARONA MOYA, J. MOLINA VILAPLANA, A. LINARES BARRANCO, J. FELIÚ BATTLE and J. LÓPEZ CORONADO | 533 |
A CONCURRENT PLANNING ALGORITHM FOR DUAL-ARM SYSTEMS
JEN-HUI CHUANG, TING-WEI CHAN and CHIEN-CHOU LIN | 541 |
A modular approach for controlling mobile robots
K. Regenstein, T. Kerscher, C. Birkenhofer, T. Asfour, J. M. Zöllner and R. Dillmann | 547 |
A SELF ORGANIZING NETWORK MODEL FOR CLAWAR SYSTEMS COMMUNICATION COEVOLUTION
FABIO P. BONSIGNORIO | 555 |
AN APPROACH TO GLOBAL LOCALIZATION PROBLEM USING MEAN SHIFT ALGORITHM
GIOVANNI MUSCATO and SALVATORE SESSA | 565 |
ASYNCHRONOUS LOCAL POSITIONING SYSTEM BASED ON ULTRASONIC ACTIVE BEACONS AND FEED FORWARD NEURAL NETWORKS
PABLO ESTÉVEZ, JUAN G. HERNÁNDEZ, JOSÉ CAPPELLETTO and JUAN C. GRIECO | 575 |
CONTACT PROCESSING IN THE SIMULATION OF CLAWAR
TAMAS JUHASZ, MYKHAYLO KONYEV, VADYM RUSIN and ULRICH SCHMUCKER | 583 |
CREATING A GESTURE RECOGNITION SYSTEM BASED ON SHIRT SHAPES
PAVEL STAROVEROV, SILVIA MARCOS, DMITRY KAYNOV, MARIO ARBULU, LUIS CABAS and CARLOS BALAGUER | 591 |
DESIGN AND DEVELOPMENT OF MICRO-GRIPPING DEVICES FOR MANIPULATION OF MICRO-PARTS
Z. W. ZHONG, S. K. NAH and S. H. TAN | 599 |
DESIGNING OF A COMMAND SHAPER USING MULTI-OBJECTIVE PARTICLE SWARM ALGORITHM FOR VIBRATION CONTROL OF A SINGLE-LINK FLEXIBLE MANIPULATOR SYSTEM
M. S. ALAM, M. O. TOKHI and M. A. HOSSAIN | 607 |
DETECTING SOUND SOURCES WITH THE HUMANOID ROBOT RH-1
PAVEL STAROVEROV, RICARDO MARTINEZ, DMITRY KAYNOV, MARIO ARBULU, LUIS CABAS and CARLOS BALAGUER | 615 |
IN SEARCH OF PRINCIPLES OF ODOUR SOURCE LOCALISATION
E. E. KADAR, G. S. VIRK and C. LYTRIDIS | 623 |
GA TUNED CLOSED-LOOP CONTROL OF SPRING BRAKE ORTHOSIS
M. SAIFUL HUQ, RASHA MASSOUD, M. SHAFIUL ALAM and M. O. TOKHI | 632 |
Hidden Markov Model based Fuzzy Controller for Flexible-link Manipulator
M. N. H. SIDDIQUE, M. A. HOSSAIN, M. S. ALAM and M. O. TOKHI | 642 |
HIL/SIL BY DEVELOPMENT OF SIX-LEGGED ROBOT SLAIR2
SERGIY DZHANTIMIROV, FRANK PALIS, ULRICH SCHMUCKER, ANDRIY TELESH and YURIY ZAVGORODNIY | 652 |
IMPROVING POWER TO WEIGHT RATIO OF PNEUMATICALLY POWERED LEGGED ROBOTS
G. MCLATCHEY and J. BILLINGSLEY | 662 |
INTEGRATED INTELLIGENT MECHROBOT SYSTEM
LIQIONG TANG and GURVINDER SINGH VIRK | 670 |
MCA2 - AN EXTENSIBLE MODULAR FRAMEWORK FOR ROBOT CONTROL APPLICATIONS
Klaus Uhl and Marco Ziegenmeyer | 680 |
MOTION ESTIMATION AND SELF-LOCALIZATION BASED ON COMPUTER VISION AND ARTIFICIAL MARKER DEPOSITION
SAVAN CHHANIYARA, KASPAR ALTHOEFER and LAKMAL D. SENEVIRATNE | 690 |
NEW STANDARDS FOR NEW ROBOTS
GURVINDER SINGH VIRK | 698 |
PARALLEL PARTICLE SWARM OPTIMIZATION FOR NETWORKED CLAWAR SYSTEM COOPERATION
FABIO P. BONSIGNORIO | 708 |
Performance metrices for improving human–robot interaction
YIANNIS GATSOULIS and GURVINDER SINGH VIRK | 716 |
REAL-TIME COMPUTATIONAL COMPLEXITY OF THE ALGORITHMS FOR A SINGLE LINK MANIPULATOR SYSTEM
M. A. HOSSAIN, M. N. H. SIDDIQUE, M. O. TOKHI and M. S. ALAM | 726 |
SOFTWARE AND COMMUNICATION INFRASTRUCTURE DESIGN OF THE HUMANOID ROBOT RH-1
D. KAYNOV, M. ARBULU, P. STAROVEROV, L. CABAS and C. BALAGUER | 736 |
SPARBOT – A ROBOTIC FOCUS MITT TRAINING PLATFORM
RICHARD STOKES, LIQIONG TANG and IBRAHIM AL-BAHADLY | 744 |
ACTUATORS AND ORTHOSES TO ASSIST FES-CYCLING
R. MASSOUD, M. O. TOKHI, M. S. ALAM and M. S. HUQ | 752 |
A NOVEL MINIATURE ATTITUDE MEASUREMENT SYSTEM FOR CLIMBING AND WALKING ROBOTS
GUANGLONG WANG, CHUNXI ZHANG, ZHAOYING ZHOU and RONG ZHU | 761 |
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