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FRONT MATTER
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| Section-1: Plenary Presentations |
DEVELOPMENT OF DANCE PARTNER ROBOT -PBDR-
KAZUHIRO KOSUGE | 3 |
FROM MICRO TO NANO ROBOTICS
BRADLEY NELSON | 5 |
ADHESION TECHNIQUES FOR CLIMBING ROBOTS: STATE OF THE ART AND EXPERIMENTAL CONSIDERATIONS
DOMENICO LONGO and GIOVANNI MUSCATO | 6 |
| Section-2: Autonomous Robots |
BALANCE CONTROL OF A TWRM WITH A STATIC PAYLOAD
KHALED M K GOHER and M O TOKHI | 31 |
BALANCE CONTROL OF A TWRM WITH A DYNAMIC PAYLOAD
KHALED M K GOHER and M O TOKHI | 39 |
A COOPERATIVE CLIMBING ROBOT FOR MELT WELD INSPECTION ON LARGE STRUCTURES
J. SHANG, S. MONDAL, A. A. BRENNER, B. BRIDGE and T. SATTAR | 47 |
POWER ANALYSIS AND STRUCTURE OPTIMIZATION IN THE DESIGN OF A HUMANOID ROBOT
L. WANG, M. XIE, Z. W. ZHONG, C. WANG and L. ZHANG | 55 |
DETECTION AND CLUSTERING OF THE ERRONEOUS TORQUES DEVELOPED IN THE FEMUR JOINT OF A WALKING ROBOT
A. VITKO, L. JURIŠICA, M. KL'UČIK, R. MURÁR and F. DUCHOŇ | 63 |
A MODULAR MOBILE SELF-RECONFIGURABLE ROBOT
MING ZHONG, PENGFEI WANG, MANTIAN LI and WEI GUO | 71 |
Localizing from Multi-Hypotheses States Minimizing Expected Path Lengths for Mobile Robots
K Hemanth, S Subhash, K. Madhava KRISHNA and Amit K Pandey | 79 |
DESIGN OF NEW MODULAR WALKING ROBOT MERO
ION ION, ION SIMIONESCU, ADRIAN CURAJ, VLADAREANU LUIGE and AURELIAN VASILE | 87 |
Behavior Network Control for a Holonomic Mobile Robot in Realistic Environments
Michael Göller, Thilo Kerscher, J. Marius Zöllner and Rüdiger Dillmann | 98 |
RFID Transponder Barriers as Artificial Landmarks for the Semantic Navigation of Autonomous Robots
Michael Göller, Florian Steinhardt, Thilo Kerscher, J. Marius Zöllner and Rüdiger Dillmann | 106 |
DEVELOPMENT OF PREDICTIVE MODELS OF CLIMBING ROBOT ATTACHMENT MECHANISMS FOR AN ENERGY-EFFICIENT ADAPTIVE CONTROL SCHEME
S. A. JACOBS and A. A. DEHGHANI-SANU | 114 |
Merging Topological Maps for Localisation in Large Environments
F. Ferreira, J. Dias and V. Santos | 122 |
| Section-3: Benchmarking and Standardization |
ISO STANDARDS FOR SERVICE ROBOTS
G. S. VIRK, S. MOON and R. GELIN | 133 |
THE REPLICATION OF EXPERIMENTS AND THE PERFORMANCE EVALUATION IN CLAWAR SYSTEM RESEARCH
FABIO P. BONSIGNORIO | 139 |
A SCALABLE BENCHMARK FOR MOTION CONTROL OF MOBILE ROBOTS
ALI MARJOVI and LINO MARQUES | 146 |
BENCHMARKING OF THE ROBOT DESIGN PROCESS
G. S. VIRK | 154 |
| Section-4: Biologically-Inspired Systems and Solutions |
A NEURAL NETWORK ARQUITECHTURE FOR PROGRESSIVE LEARNING OF ROBOTIC GRASPS
JAVIER MOLINA-VILAPLANA and JUAN LOPEZ CORONADO | 165 |
GRACE – GENERIC ROBOTIC ARCHITECTURE TO CREATE EMOTIONS
THI-HAI-HA DANG, SABINE LETELLIER-ZARSHENAS and DOMINIQUE DUHAUT | 174 |
BIOMIMETIC APPROACH FOR TORTOISE-LIKE ROBOT MODELING AND CONTROL
H. EL DAOU, J-C. GUINOT, P-A. LIBOUREL, S. RENOUS and V. BELS | 182 |
APPLICATION OF SMART MATERIALS - BIONICS MODULAR ADAPTIVE IMPLANT
NICU GEORGE BÎZDOACĂ, DAN TARNIŢĂ, DANIELA TARNIŢĂ and ELVIRA BÎZDOACĂ | 190 |
KINEMATICS AND KINETICS ANALYSIS OF RECTILINEAR LOCOMOTION GAIT
AHMAD GHANBARI, ALI ROSTAMI, SAYYED MOHAMMAD REZA SAYYED NOORANI and MIR MASOUD SEYYED FAKHRABADI | 198 |
INSPIRAT – TOWARDS A BIOLOGICALLY INSPIRED CLIMBING ROBOT FOR THE INSPECTION OF LINEAR STRUCTURES
JOERG MAEMPEL, EMANUEL ANDRADA, HARTMUT WITTE, CHRISTIAN TROMMER, ANDREAS KARGUTH, MARTIN FISCHER, DAGMAR VOIGT and STANISLAV N. GORB | 206 |
CONTROL OF THE MULTI-TRACK TYPE ROBOT INSPIRED FROM ANTENNAE OF A CENTIPEDE
TAEIL CHUNG, KYUNG HAK HYUN, CHUN-KYU WOO, SOOHYUN KIM and YOON KEUN KWAK | 214 |
IMPLEMENTATION OF ANALOG CONTROLLER BASED ON BIOLOGICAL NERVOUS SYSTEM FOR BIOMIMETICS WALKING ROBOT
SUNG HOON KIM, TAE HUN KANG and JIN-HO CHO | 221 |
ON THE DESIGN OF WALKING MACHINES USING BIARTICULATE ACTUATORS
THERESA J. KLEIN, TUAN M. PHAM and M. ANTHONY LEWIS | 229 |
MODELLING AND DESIGN OF IPMC DEVICES
I. CHOCHLIDAKIS, G. S. VIRK and A. DEHGHANI-SANJI | 238 |
ANALYSIS, SIMULATION AND IMPLEMENTATION OF A HUMAN INSPIRED POLE CLIMBING ROBOT
A. SADEGHI, H. MORADI and MAJID NILI AHMADABADI | 247 |
A COMPARISON STUDY ON PNEUMATIC MUSCLES AND ELECTRICAL MOTORS USING THE 3DCLIMBER AS A CASE STUDY
MAHMOUD TAVAKOLI, LINO MARQUES and ANÍBAL T. DE ALMEIDA | 255 |
| Section-5: Biomedical Robotic Assistance |
IMPACT OF UPPER BODY EFFORT IN FES-ASSISTED INDOOR ROWING EXERCISE
Z. HUSSAIN, M. O. TOKHI and S. GHAROONI | 265 |
GA-TUNED FUZZY LOGIC CONTROL FOR FES-ASSISTED INDOOR ROWING EXERCISE
Z. HUSSAIN, M. O. TOKHI, S. AHMAD and S. F. TOHA | 274 |
COMPLIANT CONTROL OF FES-ROWING WITH ENERGY STORE AND RELEASE MECHANISM
S. SAREH, B. J. ANDREWS, S. GHAROONI and M. O. TOKHI | 282 |
AN ELECTRODE ARRAY DESIGN FOR USE WITH A MULTICHANNEL FUNCTIONAL ELECTRICAL STIMULATOR
N SHA, LPJ KENNEY, D HOWARD, M MOATAMEDI, B HELLER and AT BARKER | 289 |
BODY-WEIGHT -SUPPORTED TREADMILL LOCOMOTION WITH SPRING BRAKE ORTHOSIS
M. SAIFUL HUQ and M. O. TOKHI | 294 |
| Section-6: Climbing, Guidance and Navigation |
STRUCTURE AND MODEL IDENTIFICATION OF A VORTEX-BASED SUCTION CUP
FILIPPO BONACCORSO, CARLO BRUNO, DOMENICO LONGO and GIOVANNI MUSCATO | 303 |
CROMSCI - A CLIMBING ROBOT WITH MULTIPLE SUCKING CHAMBERS FOR INSPECTION TASKS
C. HILLENBRAND, D. SCHMIDT and K. BERNS | 311 |
MAGNETIC WHEELED ROBOT WITH HIGH MOBILITY BUT ONLY 2 DOF TO CONTROL
WOLFGANG FISCHER, FABIEN TÂCHE, GILLES CAPRARI and ROLAND SIEGWART | 319 |
A CLIMBING RESCUE ROBOT
LUCA RIMASSA, MATTEO ZOPPI and REZIA MOLFINO | 329 |
EVOLUTION AND PERSPECTIVES OF CLIMBING ROBOTS AT THE INDUSTRIAL AUTOMATION INSTITUTE.: LESSONS LEARNED AND NEW DIRECTIONS
M. A. ARMADA, T. AKINFIEV, R. FERNANDEZ, P. GONZÁLEZ DE SANTOS, E. GARCÍA, S. NABULSI, H. MONTES, J. C. GRIECO and G. FERNANDEZ | 337 |
EFFICIENT SENSOR-BASED PATH PLANNING FOR LANDMINE LOCATION USING WALKING ROBOTS
A. RAMOS, E. GARCIA and P. GONZALEZ DE SANTOS | 345 |
SNIFFING A FIRE: SIMULATED EXPERIMENTS IN A REDUCED SCALE SCENARIO
PEDRO OLIVEIRA, LINO MARQUES and ANÍBAL T. DE ALMEIDA | 353 |
| Section-7: Flexible Mechanisms for Mobile Machines |
ROLLING LOCOMOTION OF A DEFORMABLE SOFT ROBOT WITH BUILT-IN POWER SOURCE
YASUAKI MATSUMOTO, HISASHI NAKANISHI and SHINICHI HIRAI | 365 |
JUMPING VIA ROBOT BODY DEFORMATION - MECHANICS AND MECHANISM FOR HIGHER JUMPING
M. MIYAZAKI and S. HIRAI | 373 |
AUGMENTED CONTROL SCHEME FOR INPUT TRACKING AND VIBRATION SUPPRESSION OF FLEXIBLE MANOEUVRING SYSTEMS: EXPERIMENTAL INVESTIGATIONS
F. M. ALDEBREZ and M. O. TOKHI | 381 |
A ROBOTIC CATAPULT BASED ON THE CLOSED ELASTICA WITH A HIGH STIFFNESS ENDPOINT AND ITS APPLICATION TO IMPULSIVE SWIMMING ROBOT
M. WATARI, A. YAMADA, H. MOCHIYAMA and H. FUJIMOTO | 389 |
A ROBOTIC CATAPULT BASED ON THE CLOSED ELASTICA WITH AN ANISOTROPIC STIFFNESS POINT AND ITS APPLICATION TO COMPACT CONTINUOUS JUMPING ROBOT
A. YAMADA, M. WATARI, H. MOCHIYAMA and H. FUJIMOTO | 397 |
QUASI-STATIC ENERGY ANALYSIS OF THE ROBOTIC CATAPULT BASED ON THE CLOSED ELASTICA
H. MOCHIYAMA, A. YAMADA and H. FUJIMOTO | 405 |
| Section-8: Flexible Maneuvering Systems |
MODELING AND CONTROL OF AN OVERHEAD CRANE WITH 3DOF
O. A. A. SHAEBI and M. O. TOKHI | 415 |
IMPACT OF THE HOOK ATTACHMENT MECHANISM ON CONTROL OF AN OVERHEAD CRANE
O. A. A. SHAEBI and M. O. TOKHI | 423 |
GENETIC ALGORITHM OPTIMIZATION OF PID CONTROLLER FOR A FLEXIBLE MANIPULATOR
B. A. MD ZAIN and M. O. TOKHI | 431 |
GENETIC OPTIMISATION OF ANFIS NETWORK FOR MODELLING OF A TRMS
S. F. TOHA, M. O. TOKHI and Z. HUSSAIN | 439 |
CONTROL OF A SINGLE - LINK FLEXIBLE ARM TO BE USED AS A SENSING ANTENNA
JAVIER GUERRA FERNÁNDEZ and VICENTE FELIU BATLLE | 447 |
AUGMENTED CONTROL SCHEME FOR INPUT TRACKING AND VIBRATION SUPPRESSION OF FLEXIBLE MANOEUVRING SYSTEMS: SIMULATION STUDIES
F. M. ALDEBREZ and M. O. TOKHI | 455 |
OUTPUT FEEDBACK NONLINEAR MODEL PREDICTIVE CONTROL OF A TWIN ROTOR MIMO SYSTEM
AKBAR RAHIDEH and M HASAN SHAHEED | 463 |
| Section-9: Human-Machine Interface, Tele-Presence and Virtual Reality |
INTUITIVE HUMAN-ROBOT COOPERATION
H. WOERN and A. J. SCHMID | 473 |
THE INFLUENCE OF HUMAN FACTORS ON TASK PERFORMANCE: A LINEAR APPROACH
Y. GATSOULIS, G. S. VIRK and A. A. DEHGHANI | 481 |
BRAIN COMPUTER INTERFACE APPROACHES TO CONTROL MOBILE ROBOTIC DEVICES
G. PIRES, U. NUNES and M. CASTELO-BRANCO | 489 |
STEREO CAMERA BASED HEAD ORIENTATION ESTIMATION FOR REAL-TIME SYSTEM
YOUNG-OUK KIM and SEWOONG JUN | 497 |
HUMANOID ROBOT GAME: A MIXTURE OF VR AND TELEOPERATION
TAMÁS JUHÁSZ and LÁSZLÓ VAJTA | 506 |
EXOSTATION: 7-DOF HAPTIC CONTROL CHAIN FEATURING AN ARM EXOSKELETON AND VIRTUAL REALITY TOOLS
PIERRE LETIER, MORE AVRAAM, SAMUEL VEILLERETTE, MIHAITA HORODINCA, ANDRE PREUMONT, JEAN-PHILIPPE VERSCHUEREN, ELVINA MOTARD and LEIF STEINICKE | 514 |
| Section-10: Innovative Design of CLAWAR |
DEXTEROUS ENERGY-AUTARKIC CLIMBING ROBOT
W. BROCKMANN, S. ALBRECHT, D. BORRMANN and J. ELSEBERG | 525 |
WALL CLIMBING ROBOTIC SYSTEM AND NOISE CONTROL FOR RECONNAISSANCE PURPOSE
PENGFEI WANG, MANTIAN LI, WEIDA LI and MING ZHONG | 533 |
DESIGN OF CLIMBING CLEANING ROBOT FOR VERTICAL SURFACES
TEODOR AKINFIEV, MANUEL ARMADA and SAMIR NABULSI | 541 |
DESIGN OF WHEELED CLIMBING ROBOT WITH CHANGEABLE STRUCTURE
TEODOR AKINFIEV, ROEMI FERNANDEZ and MANUEL ARMADA | 549 |
CLIMBING RING ROBOT FOR INSPECTION OF OFFSHORE WIND TURBINES
HERNANDO LEON RODRIGUEZ, BRYAN BRIDGE and TARIQ P. SATTAR | 555 |
| Section-11: Inspection and Non-Destructive Testing |
ON THE MECHANIZED INSPECTION OF GLASS FIBER PLASTIC PIPES AND PIPE JOINTS
PANAGIOTIS CHATZAKOS, ALEXANDROS LAGONIKAS, DIMITRIS PSARROS, VASILIS SPAIS, KOSTAS HRISSAGIS and AAMIR KHALID | 565 |
REMOTE AUTOMATED NON-DESTRUCTIVE TESTING (NDT) WELD INSPECTION ON VERTICAL SURFACES
S. C. MONDAL, A. A. BRENNER, J. SHANG, B. BRIDGE and T. P. SATTAR | 573 |
CAN SEMANTICS HELP AUTONOMOUS SERVICE ROBOTS IN INSPECTING COMPLEX ENVIRONMENTS?
M. ZIEGENMEYER, K. UHL, S. SAYLER, B. GASSMANN, J. M. ZÖLLNER and R. DILLMANN | 581 |
ROBOTIC SYSTEM FOR INSPECTION OF TEST OBJECTS WITH UNKNOWN GEOMETRY USING NDT METHODS
ALINA-ALEXANDRA BRENNER and TARIQ P. SATTAR | 589 |
A PROPOSED WALL CLIMBING ROBOT FOR OIL TANK INSPECTION
R. FERNÁNDEZ-RODRÍGUEZ, V. FELIU and A. GONZÁLEZ-RODRÍGUEZ | 597 |
UNDERWATER WALL CLIMBING ROBOT FOR NUCLEAR PRESSURE VESSEL INSPECTION
HERNANDO E. LEON RODRIGUEZ, TARIQ SATTAR and JIANZHONG SHANG | 605 |
AMPHIBIOUS INSPECTION ROBOT
TARIQ P. SATTAR, HERNANDO E. LEON RODRIGUEZ and JIANZHONG SHANG | 613 |
| Section-12: Locomotion |
STABLE UPRIGHT WALKING AND RUNNING USING A SIMPLE PENDULUM BASED CONTROL SCHEME
H.-M. MAUS, J. RUMMEL and A. SEYFARTH | 623 |
FROM BIOMECHANICAL CONCEPTS TOWARDS FAST AND ROBUST ROBOTS
D. RENJEWSKI, A. SEYFARTH, P. MANOONPONG and F. WÖRGÖTTER | 630 |
FROM HOPPING TO WALKING-HOW THE BIPED JENA-WALKER CAN LEARN FROM THE SINGLE-LEG MARCO-HOPPER
KARL THEODOR KALVERAM, DANIEL HÄUFLE and ANDRE SEYFARTH | 638 |
INITIATING NORMAL WALKING OF A DYNAMIC BIPED WITH A BIOLOGICALLY MOTIVATED CONTROL
T. LUKSCH and K. BERNS | 646 |
MOTION DESIGN FOR AN INSECTOMORPHIC ROBOT ON UNSTABLE OBSTACLES
YU. F. GOLUBEV and V. V. KORIANOV | 654 |
THE EFFECT OF LEG SEGMENTAL PROPORTIONS ON THE ENERGETIC COST OF ROBOTIC LOCOMOTION
PANAGIOTIS CHATZAKOS and EVANGELOS PAPADOPOULOS | 662 |
SLIDING MODE ATTITUDE CONTROL OF A SIX-LEGGED ROBOT IN CONSIDERATION OF ACTUATOR DYNAMICS
HIROAKI UCHIDA and KENZO NONAMI | 671 |
GENERATION METHOD OF FEEDBACK CONTROL INPUT OF LEG LINK USING AN ATTITUDE SENSOR FOR A SIX LEGGED ROBOT CONSISTING OF ONE LINK
HIROAKI UCHIDA, YUSUKE SHIMIZU and SHUN NAKAYAMA | 679 |
SIMPLE INTUITIVE METHOD FOR A PLANAR BIPED ROBOT TO WALK
GOOBONG CHUNG | 687 |
OBSTACLE AVOIDANCE STRATEGY FOR BIPED ROBOT BASED ON FUZZY Q-LEARNING
C. SABOURIN, K. MADANI, W. YU and J. YAN | 695 |
ADAPTIVE LOCOMOTION FOR A HEXAGONAL HEXAPOD ROBOT BASED ON A HIERARCHICAL MARKOV DECISION PROCESS
GERMAN CUAYA-SIMBRO and ANGÉLICA MUÑOZ-MELÉNDEZ | 703 |
WALKING GAIT CONTROL FOR MAKING SMOOTH LOCOMOTION MODE CHANGE OF A LEGGED AND WHEELED ROBOT
T. OKADA, W. T. BOTELHO and T. SHIMIZU | 711 |
THE DLR-CRAWLER: GAITS AND CONTROL OF AN ACTIVELY COMPLIANT HEXAPOD
M. GOERNER and G. HIRZINGER | 720 |
DEVELOPING FAST BIPEDAL LOCOMOTION METHOD FOR INCLINED FLOORS
AHMADREZA ESHGHINEJAD and MEHDI KESHMIRI | 728 |
BEHAVIOUR-BASED CONTROL OF THE SIX-LEGGED WALKING MACHINE LAURON IVc
T. KERSCHER, A. ROENNAU, M. ZIEGENMEYER, B. GASSMANN, J. M. ZOELLNER and R. DILLMANN | 736 |
PARTICLE SWARM OPTIMIZATION FOR HUMANOID WALKING-GAITS GENERATION
NIZAR ROKBANI, EL HOUCINE BEN BOUSSADA and ADEL M. ALIMI | 744 |
MECHANISM FOR VARIABLE TRANSFORMATION SHAPES OF A SINGLE-TRACKED MOBILE STRUCTURE
JEEHONG KIM and CHANGGOO LEE | 752 |
OPTIMAL POSTURE CONTROL FOR FORCE ACTUATOR BASED ARTICULATED SUSPENSION VEHICLE FOR ROUGH TERRAIN MOBILITY
VIJAY P. EATHAKOTA, SRIKANTH KOLACHALAMA, K. MADHAVA KRISHNA and SIDDHARTH SANAN | 760 |
ADAPTIVE STAIR-CLIMBING BEHAVIOUR WITH A HYBRID LEGGED-WHEELED ROBOT
MARKUS EICH, FELIX GRIMMINGER and FRANK KIRCHNER | 768 |
STABILITY CONTROL OF A HYBRID WHEEL-LEGGED ROBOT USING THE POTENTIAL FIELD APPROACH
G. BESSERON, CH. GRAND, F. BEN AMAR and PH. BIDAUD | 776 |
LOGIC-BASED AUTOMATIC LOCOMOTION MODE CONTROL OF A WHEEL-LEGGED ROBOT
ILKKA LEPPÄNEN, PETRI VIREKOSKI and AARNE HALME | 784 |
| Section-13: Manipulation and Gripping |
MOTION PLANNING TO CATCH A MOVING OBJECT
J. SERRANO, C. PÉREZ, R. MORALES, N. GARCÍA, J. M. AZORÍN and J. M. SABATER | 795 |
TELEOPERATION OF A MANIPULATOR WITH A MASTER ROBOT OF DIFFERENT KINEMATICS: USING BILATERAL CONTROL BY STATE CONVERGENCE
CÉSAR PEÑA, RAFAEL ARACIL, ROQUE SALTAREN, ILKA BANFIELD and JOSÉ M. SABATER | 804 |
INFLUENCE OF THE SAMPLING STRATEGY ON THE INCREMENTAL GENERATION OF THE GRASP SPACE
M. A. ROA, R. SUAREZ and J. ROSELL | 812 |
ROBOT-HUMAN COOPERATION HOLDING AND HANDLING A PIECE OF FABRIC
PANAGIOTIS N. KOUSTOUMPARDIS and NIKOS A. ASPRAGATHOS | 820 |
A SUB € 1000 ROBOT HAND FOR GRASPING – DESIGN, SIMULATION AND EVALUATION
J. E. TEGIN, J. WIKANDER and B. ILIEV | 828 |
IMPROVING MANIPULATION CAPABILITIES BY MEANS OF RADIO FREQUENCY IDENTIFICATION AND COMPUTER VISION
J. SALES, X. GARCÍA, P. J. SANZ, R. MARIN, M. PRATS and Z. FALOMIR | 836 |
A COOPERATIVE GRIPPER FOR HANDLING AND HANGING LIMP PARTS
ENRICO CARCA, MATTEO ZOPPI and REZIA MOLFlNO | 843 |
ROBUST GRASPING OF 3D OBJECTS WITH STEREO VISION AND TACTILE FEEDBACK
BEATA J. GRZYB, ERIS CHINELLATO, ANTONIO MORALES and ANGEL P. DEL POBIL | 851 |
BOND GRAPH MODELING OF SOFT CONTACT FOR ROBOTIC GRASPING
AKHTAR KHURSHID and ABDUL GHAFOOR | 859 |
OPTIMUM SIZE OF A SOFT-FINGER CONTACT IN ROBOTIC GRASP
ABDUL GHAFOOR and JIAN S DAI | 867 |
TACTILE SENSING METHODS FOR AUTOMATED BLOOD SAMPLES ON HUMANS
ANDERS STENGAARD SØRENSEN, THIUSIUS RAJEETH SAVARIMUTHU, EMIL PEDERSEN and ANDERS GLENT BUCH | 875 |
| Section-14: Modeling and Simulation of CLAWAR |
STUDY OF A VIBRATION DRIVEN HOPPING ROBOT
SERGEY JATSUN, VYACHESLAV DYSHENKO and ANDREY YATSUN | 893 |
COMPUTATIONAL COST OF TWO FORWARD KINEMATIC MODELS FOR A S-G BASED CLIMBING ROBOT
MIGUEL ALMONACID, ROQUE SALTAREN, RAFAEL ARACIL, CARLOS PEREZ, NICOLAS GARCIA, JOSE M. AZORIN and JOSE M. SABATER | 902 |
RobuDOG's DESIGN, MODELING AND CONTROL
PHILIPPE BIDAUD, SÉBASTIEN BARTHÉLEMY, PIERRE JARRAULT, DAMIEN SALLÉ and ÉRIC LUCET | 911 |
WALKING ROBOT “ANTON”: DESIGN, SIMULATION, EXPERIMENTS
M. KONYEV, F. PALlS, Y. ZAVGORODNIY, A. MELNIKOV, A. RUDSKIY, A. TELESH, U. SCHMUCKER and V. RUSIN | 922 |
A NONLINEAR MODEL FOR SIMULATING CONTACT AND COLLISION
DANIEL A. JACOBS and KENNETH J. WALDRON | 930 |
USING NONLINEAR OSCILLATORS TO CREATE A PATTERN GENERATOR OF BIPEDAL LOCOMOTION
ARMANDO CARLOS DE PINA FILHO and MAX SUELL DUTRA | 937 |
INTERNET 3.0 FOR THE SIMULATION OF NETWORKED CLAWAR SYSTEMS
FABIO P. BONSIGNORIO | 945 |
| Section-15: Perception, Sensing and Sensor Fusion |
APPLICATION OF LATERAL OBSTACLE SENSOR IN FOLLOWING CONTOURS FOR TERRAIN RECOGNITION TASKS
R. PONTICELLI and P. GONZALEZ DE SANTOS | 955 |
TRUE GROUND SPEED MEASUREMENT, A NOVEL OPTICAL APPROACH
VIKTOR KÁLMÁN and TIBOR TAKÁCS | 963 |
SIMPLE OPTOELECTRONIC EXTEROCEPTIVE SENSOR FOR THE CONTROL OF THE DYNAMIC EQUILIBRIUM OF A WALKING ROBOT
ERIK KRÁL | 971 |
ANALYSING HUMAN-ROBOT INTERACTION USING OMNI-DIRECTIONAL VISION AND STRUCTURE FROM MOTION
CARLOTA SALINAS and MANUEL A. ARMADA | 977 |
SIX DOF SENSORY SYSTEM FOR THE FORCE-TORQUE CONTROL OF WALKING HUMANOID
MILAN KVASNICA | 985 |
kheNose - A SMART TRANSDUCER FOR GAS SENSING
JOSÉ PASCOAL, PEDRO SOUSA and LINO MARQUES | 993 |
| Section-16: Personal Assistance |
FES-ASSISTED CYCLING WITH QUADRICEPS STIMULATION AND ENERGY STORAGE
B. S. KSM KADER IBRAHIM, S. C. GHAROONI, M. O. TOKHI and R. MASSOUD | 1003 |
MODELLING AND SIMULATION OF SIT-TO-STAND IN HUMANOID DYNAMIC MODEL
S. C. GHAROONI, M. JOGHTAEI and M. O. TOKHI | 1011 |
A NEW GRAVITY COMPENSATION SYSTEM COMPOSED OF PASSIVE MECHANICAL ELEMENTS FOR SAFE WEARABLE REHABILITATION SYSTEM
T. NAKAYAMA, T. ASAHI and H. FUJIMOTO | 1019 |
A ROBOTIC WALKER WITH STANDING, WALKING AND SEATING ASSISTANCE
D. CHUGO, T. ASAWA, T. KITAMURA and K. TAKASE | 1027 |
STEP CLIMBING OF A FOUR-WHEEL-DRIVE OMNIDIRECTIONAL WHEELCHAIR
MASAYOSHI WADA | 1035 |
STEERING CONTROL OF WHEELCHAIR ON TWO WHEELS
SALMIAH AHMAD, M O TOKHI and KHALED M K GOHER | 1043 |
| Section-17: Planetary Exploration and Localization |
DEVELOPMENT OF AN UNDERGROUND EXPLORER ROBOT BASED ON PERISTALTIC CRAWLING OF EARTHWORMS
HAYATO OMORI, TARO NAKAMURA and TAKAYUKI YADA | 1053 |
MECHANICAL AND ELECTRICAL DESIGN OF A TWO SEGMENTAL EIGHT-LEGGED MOBILE ROBOT FOR PLANETARY EXPLORATION
B. UGURLU, C. M. UZUNDERE, H. TEMELTAS and A. KAWAMURA | 1061 |
VISUAL ODOMETRY TECHNIQUE USING CIRCULAR MARKER IDENTIFICATION FOR MOTION PARAMETER ESTIMATION
SAVAN CHHANIYARA, KASPAR ALTHOEFER and LAKMAL D SENEVIRATNE | 1069 |
| Section-18: Planning and Control |
SINGLE VIEW DEPTH ESTIMATION BASED FORMATION CONTROL OF ROBOTIC SWARMS: IMPLEMENTATION USING REALISTIC ROBOT SIMULATOR
V. GAZI, B. FIDAN and S. ZHAI | 1079 |
MECHANICAL DESIGN AND MOTION PLANNING OF A MODULAR RECONFIGURABLE ROBOT
AMIR HOSSEIN HAJI AGHA MEMAR, PARVIN ZARE HAJI BAGHER and MEHDI KESHMIRI | 1090 |
APPROXIMATION CONTROL OF A DIFFERENTIAL-DRIVE MOBILE ROBOT
HECTOR MARIN-REYES and M. O. TOKHI | 1098 |
EXPERIMENTAL STUDY ON TRACK-TERRAIN INTERACTION DYNAMICS IN AN INTEGRATED ENVIRONMENT: TEST RIG
S. AL-MILLI, S. CHHANIYARA, E. GEORGIOU, K. ALTHOEFER, J. S. DAI and L. SENEVIRATNE | 1106 |
A STEP TOWARD AUTONOMOUS POLE CLIMBING ROBOTS
MAHMOUD TAVAKOLI, ALI MARJOVI, LINO MARQUES and ANÍBAL T. DE ALMEIDA | 1114 |
| Section-19: Service Robots |
DEVELOPMENT OF THE RIDING ROBOT LIKE AS A HORSE AND MOTION CONTROL FOR THE HEALTHCARE AND ENTERTAINMENT
MEESEUB LIM and JOONHONG LIM | 1125 |
CLIMBING ROBOTS: A SURVEY OF TECHNOLOGIES AND APPLICATIONS
M. F. SILVA and J. A. T. MACHADO | 1133 |
UNIFIER – UNIFIED ROBOTIC SYSTEM TO SERVICE SOLAR POWER PLANTS
RIDHA AZAIZ | 1141 |
A FEASIBILITY STUDY FOR ENERGY AUTONOMY IN MULTI ROBOT SEARCH AND RESCUE OPERATIONS
YOSOPH SINDI, TONY PIPE, SANJA DOGRAMADZI, ALAN WINFIELD and CHRIS MELHUISH | 1146 |
PERSON FOLLOWING WITH A MOBILE ROBOT USING A MODIFIED OPTICAL FLOW
ANKUR HANDA, JAYANTHI SIVASWAMY, K MADHAVA KRISHNA, SARTAJ SINGH and PAULO MENEZES | 1154 |
DEVELOPMENT OF A SIMULATION ENVIRONMENT OF AN ENTERTAINMENT HUMANOID ROBOT DOING A HANDSTAND ON A HIGH BAR
PEDRO TEODORO, MIGUEL AYALA BOTTO, CARLOS CARDEIRA, JORGE MARTINS, JOSÉ SÁ DA COSTA and LIMOR SCHWEITZER | 1161 |
| Section-20: Workshop on Humanoid Robotics |
SELECTING AND LEARNING MULTI-ROBOT TEAM STRATEGIES
MANUELA M. VELOSO | 1171 |
FRACTIONAL CALCULUS: APPLICATION IN CONTROL AND ROBOTICS
JOSÉ A. TENREIRO MACHADO | 1172 |
DEVELOPMENT AND GAIT GENERATION OF THE BIPED ROBOT STEPPER-SENIOR
YU LIU, MINGGUO ZHAO, JI ZHANG, LIGUO LI, XUEMIN SU and HAO DONG | 1173 |
A DETERMINISTIC WAY OF PLANNING AND CONTROLLING BIPED WALKING OF LOCH HUMANOID ROBOT
M. XIE, Z. W. ZHONG, L. ZHANG, L. B. XIAN, L. WANG, H. J. YANG, C. S. SONG and J. LI | 1181 |
INVERSE DYNAMICS MODELLING FOR HUMANOID ROBOTS BASED IN LIE GROUPS AND SCREWS
M. ARBULU and C. BALAGUER | 1191 |
HUMAN-HUMANOID ROBOT COOPERATION IN COLLABORATIVE TRANSPORTATION TASKS
M. ARBULU and C. BALAGUER | 1199 |
A CONVEX OPTIMIZATION APPROACH FOR ONLINE WALKING PATTERN GENERATION
RONG XIONG, CHANGJIU ZHOU, LIANDONG ZHANG and JIAN CHU | 1207 |
ENERGY -EFFICIENT HUMANOID WALKING WITH ANKLE ACTUATION: LEARNING FROM BIOMECHANICS
RINO VERSLUYS, BRAM VANDERBORGHT, RONALD VAN HAM, PIETER BEYL, PIERRE CHERELLE and DIRK LEFEBER | 1216 |
A FALL DOWN RESISTANT HUMANOID ROBOT WITH SOFT COVER AND AUTOMATICALLY RECOVERABLE MECHANICAL OVERLOAD PROTECTION
Marika Hayashi, Ryohei Ueda, Tomoaki Yoshikai and Masayuki Inaba | 1225 |
RETARGETING SYSTEM FOR A SOCIAL ROBOT IMITATION INTERFACE
J. P. BANDERA, R. MARFIL, R. LÓPEZ, J. C. DEL TORO, A. PALOMINO and F. SANDOVAL | 1233 |
REALISTIC HUMANOID ROBOT SIMULATION WITH AN OPTIMIZED CONTROLLER: A POWER CONSUMPTION MINIMIZATION APPROACH
JOSÉ L. LIMA, JOSÉ C. GONÇALVES, PAULO J. COSTA and A. PAULO MOREIRA | 1242 |
A LIE GROUP FORMULATION FOR REALTIME ZMP DETECTION USING FORCE/TORQUE SENSOR
LIANDONG ZHANG, CHANGJIU ZHOU and RONG XIONG | 1250 |
VISUAL TRACKING ON AN AUTONOMOUS SELF -CONTAINED HUMANOID ROBOT
MAURO RODRIGUES, FILIPE SILVA and VÍTOR SANTOS | 1258 |
POSE ESTIMATION FOR GRASPING PREPARATION FROM STEREO ELLIPSES
GIOVANNI SAPONARO and ALEXANDRE BERNARDINO | 1266 |
BACK MATTER
| 1275 |
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