Advances in mobile robotics : proceedings of the Eleventh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Coimbra, Portugal, 8-10 September 2008

Эта книга рассказывает о современных научных и технических результатах исследований и событиях в области мобильной робототехники и связанных с ней технологиях поддержки. Обсуждаются вопросы обслуживания, здравоохранения, общественной и промышленной сред. This book tells the story of modern scientific and technical research results and developments in the field of mobile robotics and related support technologies. The issues of maintenance , health care , public and ind ustrial environments . CONTENTS......Page 12 Preface......Page 6 Conference organisers......Page 7 Conference committees......Page 8 Conference sponsors and co-sponsors......Page 11 Section-I: Plenary Presentations......Page 28 Development of dance partner robot -PBDR- K. Kosuge......Page 30 From micro to nano robotics B. Nelson......Page 32 1. Introduction......Page 33 2. Classification of adhesion techniques by nature of forces......Page 34 2.1. Pneumatic adhesion......Page 35 2.2. Magnetic adhesion......Page 38 2.4. Chemical adhesion......Page 39 3. Classification on the basis of the need of energy......Page 40 4. Considerations concerning the locomotion methods......Page 41 5.1. ROBINSPEC......Page 42 5.3. SURFY......Page 43 5.4. SCID......Page 44 5.6. VENOM......Page 45 5.7. ALICIA 2......Page 46 5.9. ALICIA 3......Page 47 5.10. SPlDERBOT 2......Page 48 6. Conclusion......Page 49 References......Page 50 Section-2: Autonomous Robots......Page 56 1.1. Advantages of Two-Wheeled Mobile Robots......Page 58 2. Mathematical Modelling......Page 59 2.2. Energy Requirements......Page 60 4. Analysis and Simulation Results......Page 61 4.4. System Energy requirements......Page 64 References......Page 65 1.1. Two- Wheeled Mobile Robots......Page 66 2. System Modelling and Description......Page 67 3. Control Strategy......Page 68 4.1. Motion of the Payload and the COM......Page 69 4.2. Ejfect of D{fferent Disturbance Levels......Page 70 4.3. Effect of Disturbance Duration......Page 71 5. Conclusions......Page 72 References......Page 73 1. Introduction of the Project......Page 74 2.1 Magnet adhesion......Page 76 2.2 Two section structure......Page 77 2.3 Prototype oj the robot......Page 78 3. Control of the Robot......Page 79 5. NDT Inspection......Page 80 References......Page 81 1. Introduction......Page 82 2.1. Dual Pendulum Model......Page 83 2.2. Analysis of the Model in One Step......Page 84 3. Optimization......Page 86 4. Application in the Arrangement of Robot's Hip Yaw Movement......Page 88 References......Page 89 1. Introduction......Page 90 2. Detection of the foot placing......Page 91 3. Classification of sensed torques......Page 92 References......Page 97 1. Introduction......Page 98 2.2. Drive system......Page 99 2.3. Docking mechanism......Page 100 2.5. Ultrasonic-sensor mechanism......Page 101 4. Electrical System & Hardware Integration......Page 102 5. Implementation of Docking......Page 103 References......Page 105 1. Introduction......Page 106 3.1. Tree Construction......Page 108 3.2. Computing Distances......Page 109 3.3. Best Path Computation......Page 110 4. Simulations......Page 111 5. Conclusions......Page 112 References......Page 113 1. Introduction......Page 114 2. Building of a new modular walking robot MERO......Page 115 3. On the shift system mechanisms of the MERO modular walking robot......Page 116 4. The Control system of the MERO modular walking robot......Page 119 5. Further Work......Page 121 References......Page 123 1. Introduction......Page 125 2. Behavior Modules......Page 126 3. Reactive Layer of Behavior Network......Page 127 4.1. Predictive obstacle handling......Page 128 5.1. Obstacle Handler Group......Page 129 6. Related Work and Discrimination......Page 130 7. Conclusion......Page 131 References......Page 132 1. Introduction......Page 133 2. RFID Barriers......Page 135 3. Semantic Map......Page 136 4. Global Planning......Page 137 6. Conclusion and Outlook......Page 138 Acknowledgements......Page 139 References......Page 140 1. Introduction......Page 141 2.1. Vacuum Pad Normal Holding Force Theoretical Model......Page 142 2.2. Electromagnet Normal Holding Force Predictive Model......Page 143 3. Experimental Methodology and Results Obtained......Page 144 4. Discussion of Results......Page 146 References......Page 148 1. Introduction......Page 149 2. Simultaneously localisation in Multiple Topological Paths......Page 151 3.2. Identifying Overlap in View Sequences......Page 153 4. Experiments and Results.......Page 154 References......Page 156 Section-3: Benchmarking and Standardization......Page 158 1. Introduction......Page 160 2. Advisory Group on service robots......Page 161 3. Robots in personal care......Page 162 4. Vocabulary on robots and robotic devices......Page 163 5. Conclusions......Page 164 6. References......Page 165 1. Introduction......Page 166 2.1. Conference Tracks......Page 167 2.2. Benchmarking proposals......Page 168 2.4. Research coordination activities......Page 169 3. Novel approaches......Page 170 References......Page 171 1. Introduction......Page 173 2. Required characteristics for a benchmark......Page 175 3.1. Slalom test......Page 176 3.2. Crinkle test......Page 178 4. experimental results......Page 179 References......Page 180 1. Introduction......Page 181 3. CLAW AR Delphi study on benchmarking......Page 183 4. Example of a conceptual robot design......Page 184 5. CtA W AR benchmarking questionnaire......Page 185 6. Results from the CLAW AR benchmarking study......Page 186 8. References......Page 188 Section-4: Biologically-Inspired Systems and Solutions......Page 190 1. Introduction......Page 192 2. Modular Multi Network Architecture for Learning Grasping Tasks......Page 193 2.2. Learning the Inverse kinematics of the fingers. LMI......Page 194 3. Simulations and Results......Page 197 References......Page 199 1. Introduction......Page 201 2.1. Theory oj Ortony et al. (1988)......Page 202 2.4. MBT! of Meyers-Brigg and Meyers......Page 203 3. Related works......Page 204 4.1. GRACE - fieneric !l..ohotic drchitecture to £reate !J..motions......Page 205 4.2.4. MBTlfor personality......Page 206 References......Page 207 1. Introduction......Page 209 2.1. Studied animals......Page 210 2.2. Experiments in Vivo......Page 211 3.1. The model......Page 212 3.2. Angular trajectories......Page 213 References......Page 215 1. Introduction......Page 217 2. The parametric 3D model of the bones......Page 218 2.1. Studies of normal regime bones mechanical loads......Page 219 3. Modular adaptive implant......Page 220 References......Page 224 1. Introduction......Page 225 2. Kinematics......Page 227 3. Kinetics......Page 229 4. Conclusion......Page 231 References......Page 232 1. Motivation......Page 233 4. Techno-biological analysis and bionics of climbing......Page 234 4.1. Locomotion......Page 235 5. Technical realisation......Page 237 6. Conclusion......Page 239 References......Page 240 1. Introduction......Page 241 2. Mechanical System......Page 242 3. Up / Down Climbing Decision......Page 243 4. Experimental Results......Page 245 References......Page 246 1. Introduction......Page 248 2. Configuration of System......Page 249 3. Analog Neuron Model......Page 250 4. CPG Network......Page 253 5. Conclusion......Page 254 References......Page 255 1 Introduction......Page 256 2 Mammalian leg muscle architecture......Page 258 3.1. Actuators......Page 259 4.1. Work Transfer......Page 260 4.2. Methods......Page 261 4.3.1 Contributions of so and GA to ankle work and p~wer......Page 262 4.3.2 Variation in Timing of so Activation and GA activation......Page 263 References......Page 264 1.1. Ionic Polymer-Metal Composites (IPMC)......Page 265 2. Methodology......Page 266 2.1.1. Individual modeling......Page 267 3. Results......Page 268 3.1. [SAD performance......Page 269 References......Page 272 1. Introduction......Page 274 2. Related Work......Page 275 4. Analysis......Page 276 5. Simulation and Experiments......Page 279 6. Discussion......Page 280 References......Page 281 1. Introduction......Page 282 2. The 3D CLIMBER Robot......Page 283 2.1. Required Torque and Force......Page 284 3. Pneumatic Muscles......Page 285 3.1. Selection of the appropriate PM for the 3DCLIMBER:......Page 286 5. Serial Configuration of Pneumatic Muscles......Page 287 References......Page 288 Section-5: Biomedical Robotic Assistance......Page 290 1. Introduction......Page 292 2. Voluntary Upper Body Effort - An Overview......Page 293 3.l. Indoor Rowing Exercise Model......Page 294 4. Implementation of Control Strategies......Page 295 5. Simulation Results......Page 296 References......Page 299 1. Introduction......Page 301 2. Indoor Rowing Exercise Model......Page 302 3.2. Inference......Page 303 4.1. Genetic Algorithm Optimization Process......Page 304 5. Simulation Results......Page 305 References......Page 307 1. Introduction......Page 309 2.2. Design specification......Page 310 2.3. Muscle Stimulation......Page 312 2.4. Modelling the rowing cycle......Page 313 3. Results......Page 314 References......Page 315 1. Introduction......Page 316 2. Array design......Page 317 3. Steerability......Page 318 References......Page 319 1. Introduction......Page 321 2.1. SBO equipped humanoid model......Page 322 2.3. Simulation of the voluntary hand support......Page 323 3. Results......Page 324 References......Page 326 Section-6: Climbing, Guidance and Navigation......Page 328 1. Introduction......Page 330 2. Alicia VTX robot structure......Page 331 3. Experimental Test bed......Page 332 4. System identification......Page 334 4.1. Model selection......Page 335 5. Conclusion......Page 336 References......Page 337 1. Motivation and state of the art......Page 338 2. Climbing Robot CROMSCI......Page 339 3. Negative Pressure System......Page 340 4. Control System......Page 341 5. Experimental Results With Seven-Chamber Prototype......Page 342 5.1. Generated Forces......Page 343 5.2. Driving Experiments......Page 344 References......Page 345 1. Introduction......Page 346 2.1. Wheel design......Page 347 3. Motivation, goal and approach......Page 348 4.1. Model of a vehicle that is passing a concave corner......Page 349 4.2. Simplified calculation without the effect of gravity......Page 350 5. Mechanical design of a simple test prototype......Page 351 6.1. Tests on concave corners and comparison to calculation results......Page 352 6.2. Other tests with the prototype......Page 353 7. Conclusion and outlook to further work......Page 354 References......Page 355 1. Introduction......Page 356 3. Sliding-sock locomotion......Page 357 4. Modular rescue robots with sliding sock locomotion......Page 358 5. Robot architectures with improved climbing performance......Page 360 6. Conclusions......Page 362 References......Page 363 1. Introduction......Page 364 2. Evolution in the design and control of climbing robots......Page 366 2.1. Configuration design criteria......Page 367 3. Conclusions: Lessons learned and new directions......Page 370 References......Page 371 1. Introduction......Page 372 2. Complete Coverage in DYLEMA......Page 373 3. Experiments......Page 377 References......Page 379 1. Introduction......Page 380 2.1. Reduced-scale environment......Page 381 4. Fire Searching Algorithm......Page 383 5. Experimental Results......Page 387 Acknowledgments......Page 388 References......Page 389 Section-7: Flexible Mechanisms for Mobile Machines......Page 390 1. Introduction......Page 392 3. Rolling soft robot......Page 393 4. Experimental result of rolling soft robot......Page 394 5. Simulation of rolling soft robot......Page 395 References......Page 399 2. Principle of Jumping via Robot Body Deformation......Page 400 3.1. Flexural potential energy......Page 401 3.2. Particle-based model of circular robot......Page 402 3.4. Impulse from the ground during jumping......Page 403 4.1. Realization of a dish shape......Page 404 4.3. Prototype......Page 405 References......Page 406 1. Introduction......Page 408 3. Design and Implementation of Augmented Control Scheme......Page 409 4. Results......Page 411 5. Conclusion......Page 414 References......Page 415 1. Introduction......Page 416 2. A Robotic Catapult based on the Closed Elastica with a High Stiffness Endpoint......Page 417 2.1. Introducing High Stiffness Endpoint......Page 418 2.2. Experiment......Page 419 3. Application to Impulsive Swimming Robot......Page 420 3.1. Start Motion......Page 421 3.2. Change Direction Motion......Page 422 References......Page 423 1. Introduction......Page 424 2. Conventional Robotic Catapult based on the Closed Elastica......Page 425 3.1. Dynamics......Page 426 3.3. Simulation Result......Page 427 4. Basic Experiment......Page 428 5.1. Jump Motion......Page 429 References......Page 430 1. Introduction......Page 432 2.1. Geometry of Curves and Virtual Joints......Page 433 2.3. Closed-loop Structure represented by the External Wrench......Page 435 3. Quasi-static Energy Analysis......Page 437 4. Conclusion......Page 438 References......Page 439 Section-8: Flexible Maneuvering Systems......Page 440 1. Introduction......Page 442 2. Crane description......Page 443 3. The control system design......Page 444 4. Simulation results......Page 445 5. Conclusion......Page 448 References......Page 449 1. Introduction......Page 450 2. System description......Page 451 3. The control system design......Page 453 4. Simulation results......Page 454 References......Page 457 2. The Flexible Manipulator System......Page 458 3. Genetic Algorithms......Page 460 4. Simulation Results and Discussion......Page 461 5. Conclusion......Page 463 References......Page 464 1. Introduction......Page 466 2. Experimental Set-up......Page 468 4.1. Tuning the antecedent part......Page 469 4.2. Tuning the consequent part......Page 470 5. Result and discussion......Page 471 References......Page 472 1. Introduction......Page 474 2.1. Basic structure......Page 475 2.2. Dynamic modelling of the single - link flexible arm......Page 476 3. Feedback control of nonlinear system......Page 477 3.1. Input - state linearization......Page 478 3.2. Pole placement design......Page 479 4. Conclusions and future works......Page 480 References......Page 481 1. Introduction......Page 482 3. Design and Implementation of Augmented Control Scheme......Page 483 4. Results......Page 486 5. Conclusion......Page 488 References......Page 489 1. Introduction......Page 490 2.1. Methodology......Page 492 2.2. Unscented Kalman filter......Page 494 4. Results......Page 495 References......Page 496 Section-9: Human-Machine Interface, Tele-Presence and Virtual Reality......Page 498 2. Problem formulation......Page 500 3. Robot architecture......Page 501 4. Tactile Language......Page 502 5.1. Workflow Overview......Page 503 5.2. Action selection......Page 505 5.3. Proactive execution......Page 506 References......Page 507 1. Introduction......Page 508 3. Measurement Methods......Page 509 3.1. Performance Measurement......Page 510 3.3. Telepresence Measurement......Page 511 4. Results and Discussion......Page 512 5. Conclusions......Page 514 References......Page 515 1. INTRODUCTION......Page 516 2.3. Motor imagery paradigm......Page 518 2.4.1. P 300 - Bayesian Approach......Page 520 2.4.2. Motor imagery - Fisher Linear Discriminant Approach......Page 521 3.2. Motor imagery experiments......Page 522 References......Page 523 1 Introduction......Page 524 2.1 Camera Calibration......Page 525 2.2 Obtaining Morphological feature......Page 526 2.3 Head Segmentation......Page 527 2.4 Head Pose estimation......Page 528 4 Experimental Result......Page 530 5 Conclusion......Page 531 References......Page 532 2.1 The KHR-1 robot......Page 533 2.2 Client-server architecture......Page 534 2.3 Central virtual reality......Page 535 2.5 Feedback from physical platforms......Page 536 3.1 Locomotion......Page 537 3.3 An example fight scenario......Page 538 4. Conclusion......Page 539 References......Page 540 1. Introduction......Page 541 2.2. Exoskeleton Controller (ECO)......Page 543 2.4. The 3D Visualization Client......Page 545 3. Preliminary Tests and Results......Page 546 Acknowledgments......Page 547 References......Page 548 Section-10: Innovative Design of CLA WAR......Page 550 1. Motivation and Requirements......Page 552 2. State of the art......Page 553 3.1. Kinematics......Page 554 3.2. Control System......Page 555 4. Experimental Evaluation......Page 556 5. Discussion......Page 557 6. Conclusions......Page 558 References......Page 559 1. Introduction......Page 560 2. Mechanical Design......Page 561 3. Embedded controller design......Page 563 4. Noise Control......Page 564 5. Experimental work......Page 565 Acknowledgments......Page 566 References......Page 567 1. Motivation to the Work......Page 568 2. Formulation of the Problem......Page 569 3. Technical Solutions......Page 570 4. Process of Operation......Page 571 5. Experimental Tests......Page 572 6. Conclusions......Page 573 References......Page 574 1. Motivation to the Work......Page 576 3. Technical Solutions......Page 577 4. Process of Operation......Page 579 References......Page 580 1. Introduction......Page 582 2. Requirements and defects to be scanned......Page 583 3. Types of defects......Page 584 4. Specification of the COncEPT Prototype tomography scanner......Page 585 5. Payload feasibility considerations......Page 587 6. Climbing robot prototype......Page 588 References......Page 589 Section-11: Inspection and Non-Destructive Testing......Page 590 1. Introduction......Page 592 2. System Design......Page 593 2.1. Locomotion......Page 594 2.2. Control......Page 596 2.3. NDT Equipment......Page 598 References......Page 599 1. Introduction......Page 600 2.2 Design Probe Holder with Linear Actuator......Page 602 2.3 Onboard Couplant Supply System......Page 603 2.4 Monitoring signal stability vs speed of scan......Page 604 2.5 Laboratory experimental results on the vertical weld surface......Page 605 3. Conclusion......Page 606 Reference......Page 607 1. Introduction......Page 608 2. The Semantic Inspection Approach......Page 609 2.1. The Mission Ontology......Page 610 2.3. Inspection Planning......Page 611 3. Realization......Page 612 5. Conclusion and Future Work......Page 614 References......Page 615 1.1 Application of wall climbing robots......Page 616 1.2 The robotic system......Page 617 2.1 The control system......Page 618 2.2 Automated eddy-current inspection of turbine blades......Page 620 2.3 Automated PFM controlled inspection......Page 622 References......Page 623 1. Introduction......Page 624 2.1. Wheel Design......Page 626 2.2. The Chosen Solution......Page 627 3. Wheel Experiment......Page 628 5. Acknowledgement......Page 630 References......Page 631 1. Introduction......Page 632 2. Development of an underwater wall climbing......Page 633 2.2. First prototype climbing robot design......Page 634 2.3. Structural design of the first prototype......Page 635 2.4.1 Robot structure......Page 636 2.4.2 Adhesion force of the robot to vessel wall......Page 637 References......Page 639 1. Introduction......Page 640 2. Robot System Development......Page 641 3. Robot Trajectory for Weld Inspection......Page 644 5. NDT Results......Page 646 References......Page 647 Section-12: Locomotion......Page 648 1. Introduction......Page 650 2. Methods......Page 651 3. Results......Page 652 4.1. General Discussion......Page 653 References......Page 655 1. Introduction......Page 657 2. Design Concepts for Legged Machines......Page 658 3. Biomimetic Design Concept......Page 659 4. Biological Investigation......Page 660 6. Methods......Page 661 7. Simulation Results......Page 662 8. Discussion......Page 663 References......Page 664 1. Introduction......Page 665 2. Method......Page 667 3. Results......Page 668 4. Discussion......Page 670 Acknowledgments.......Page 671 References......Page 672 1. Introduction......Page 673 2. Related Work......Page 674 3. Controlling Dynamic Motions of Bipeds with Reflexes and Motor Patterns......Page 675 4. Initiation of Walking......Page 677 References......Page 679 1. Introduction......Page 681 2. Main Restrictions of Motion Design......Page 682 3. Sample Results......Page 683 References......Page 688 1. Introduction......Page 689 2. System Dynamics......Page 690 3. Periodic Trajectories......Page 692 4. Performance Index......Page 693 5. Results......Page 695 References......Page 696 1. Introduction......Page 698 3. Walking Planning......Page 699 4.2. Mathematical Model from the Input of the Thigh Link to the Attitude of the Body[IJ......Page 700 5.1. 3D Simulations on the Even Terrain......Page 701 5.2. 3D Simulations on the Irregular Terrain......Page 702 References......Page 705 1. Introduction......Page 706 3.1. Walking Planning......Page 707 3.3. Feedback Control Input......Page 708 References......Page 712 1. Introduction......Page 714 2. Dynamic Modeling of the Four-Link, Three-Joint Planar Biped Robot as a Free-floating Robot......Page 715 3.1. Design of the relative trajectory......Page 717 3.2. Maintaining the stable posture while walking with the RTC method......Page 718 4. Experiments......Page 719 References......Page 721 1. Introduction......Page 722 2. FUZZY Q-LEARNING CONCEPT......Page 723 3.1. Low-level control......Page 725 3.2. High-level control......Page 726 4. SIMULATION RESULTS......Page 727 5. Conclusion......Page 728 References......Page 729 1. Introduction......Page 730 2. Markov Decision Processes......Page 731 3. Related Work......Page 732 4.1. Characterization of the Sets S and A......Page 733 4.2.1. Low-level layer......Page 734 5. Results and Discussion......Page 735 References......Page 736 1. Introduction......Page 738 2. Definition of Walking Gaits......Page 739 4. Mode Change Using Methodology-l......Page 740 5. Mode Change Using Methodology-2......Page 741 6. Mode Change in Same Hip Joint Rotation Direction......Page 742 7. Experimental Results......Page 743 7.3. Mode change from W-type to L-type......Page 744 References......Page 746 1. Introduction......Page 747 2. The DLR-Crawler - Mechanical System, Sensors and Electronics......Page 748 2.1. Joint Compliance Control......Page 749 3.1. Predefined Gait Patterns......Page 750 3.2. Coordination Inspired by Cruse's Rules......Page 751 4. Results and Discussion......Page 752 References......Page 754 1. Introduction......Page 755 2.2 Leg Interface......Page 756 3.1.2 Leg shortening......Page 757 3.1.4 Leg swinging in single support phase......Page 758 3.2.1 Up righting......Page 759 3.3 Output Parameters......Page 760 5. Conclusion......Page 761 References......Page 762 1. Introduction......Page 763 2. The six legged robot LAURON IVe......Page 764 3. Behaviour networks......Page 765 4. Behaviour-based Control of LAURON......Page 766 5. Local adaptations for stable walking......Page 768 6. Experiments and real world tests......Page 769 References......Page 770 1. Introduction......Page 771 2. Particle Swarm Optimization......Page 772 3.1. Proposal description......Page 774 3.3. Stability control policy......Page 776 4. Results, discussion and further work......Page 777 References......Page 778 1. Introduction......Page 779 2. Concept of mechanism design......Page 780 3.1. Kinematics of transformable track......Page 781 3.2. Length of track......Page 782 3.3. Calculation and simulation of variable length of track......Page 784 References......Page 786 1. INTRODUCTION......Page 787 2. ANALYSIS OF PASSIVE SUSPENSION SYSTEM......Page 788 3. ANALYSIS OF LFA-V......Page 791 4. RESULTS AND DISCUSSION......Page 792 S. CONCLUSIONS......Page 793 REFERENCES......Page 794 Adaptive stair-climbing behaviour with a hybrid legged-wheeled robot.. M. Eich, F. Grimminger and F. Kirchner......Page 795 2. Adaptive Control for Hybrid Legged-Wheeled Robots......Page 796 3. Results......Page 799 4. Conclusion......Page 801 References......Page 802 1. Introduction......Page 803 2.1. Stability Margin......Page 804 2.2. Stability Potential Field......Page 805 3. Differential Kinematic Model......Page 806 4. Decoupled Control......Page 807 5. Results......Page 809 References......Page 810 1. Introduction......Page 811 2.1.2. Terrain roughness......Page 812 2.2.4. Motion resistance of the transfer leg's wheel in the rolking mode......Page 813 3.1. Indicators for changing from wheeled mode to rolking mode......Page 814 4.1. Structure of automatic locomotion mode control......Page 815 4.2.1. Changing from wheeled to rolking mode......Page 816 5. Experiment with the wheel-legged robot WorkPartner......Page 817 6. Conclusion......Page 818 References......Page 819 Section-13: Manipulation and Gripping......Page 820 1. Introduction......Page 822 2. Robot Description......Page 823 3. Trajectory prediction filter:The Kalman filter......Page 825 4.2. Trajectory prediction graphs......Page 826 5.1. Experimental set up......Page 827 6. Conclusion......Page 828 References......Page 829 1. Introduction......Page 831 2. Master and slave robot Relations......Page 832 3. Teleoperation system model......Page 833 4. Bilateral control by state convergence based in position and velocity references......Page 834 5. Experimental Results......Page 836 Bibliography......Page 838 1. Introduction......Page 839 2. Exploration of the grasp space......Page 840 2.2. Computation of the grasp space......Page 841 3. Case study......Page 842 4. Discussion......Page 845 References......Page 846 1. Introduction......Page 847 2. Problem FormulationIMotivation......Page 848 3. Neural Network Force Controller......Page 849 4. Experimental Results and Conclusions......Page 850 References......Page 854 1. Introduction......Page 855 3.1. Configuration......Page 857 3.2. Materials......Page 858 4. Control......Page 859 5. Results......Page 860 References......Page 862 1. Introduction......Page 863 2.1. Hardware description......Page 864 2.2. Software description......Page 866 3.2. Reading performance experiment......Page 867 4. Conclusions and future work......Page 868 References......Page 869 1. Introduction......Page 870 2. Handling requirements and system basic features......Page 871 3.1. Reconfigurable hanger......Page 873 3.2. Metamorphic gripper......Page 874 3.3. Picking module design......Page 875 Acknowledgement......Page 876 References......Page 877 1. Introduction......Page 878 2. Manipulation framework......Page 879 3. Visual analysis......Page 881 4. Grasp planning and execution......Page 882 5. Implementation and resnlts......Page 883 6. Discussion and conclusion......Page 884 References......Page 885 1. Introduction......Page 886 3. Bond-Graph Model and State Space Equations......Page 888 4. Simulation and Results......Page 889 5. Conclusion......Page 890 References......Page 891 1. Introduction......Page 894 2. The Grasp Mechanics......Page 895 3. The Soft Finger Contact Model......Page 896 4. Contact Size......Page 898 References......Page 900 1. Introduction......Page 902 2. Overall technology and design......Page 903 2.1. Vein localization......Page 904 3. Tactile vein localization......Page 905 4.1. SMAC actuator......Page 906 4.2. Mechanical setup......Page 907 4.3. Initial results......Page 908 5.1. Test setup......Page 909 5.2. Vein or no vein......Page 910 5.3. Practical verification......Page 912 6. Conclusion......Page 914 7. Future work......Page 915 References......Page 916 Section-I4: Modeling and Simulation of CLA WAR......Page 22 1. Introduction......Page 920 2. Hopping vibration - driven robot......Page 921 3. Numerical results of modeling......Page 923 4. Robot prototype modeling......Page 926 References......Page 928 1. Motivation of work......Page 929 2.1. Model-l......Page 931 2.2. Model-2......Page 932 3.2. Forward kinematics......Page 933 4. Results. Computational cost comparison......Page 934 4.1. Computational efficiency......Page 935 5. Discussion......Page 936 References......Page 937 1. Introduction......Page 938 2. Mechanical Design and kinematic models for the quadruped......Page 940 3.1. Hardware......Page 941 3.2. Programming environment......Page 942 4. Velocity control......Page 943 5. Dynamic Behavior Analysis......Page 945 Appendix B. Inverse Kinematic Solutions for the back legs......Page 946 References......Page 947 1. Introduction......Page 949 2. Modular six-legged robot "ANTON"......Page 951 2.1. Hardware control system......Page 952 3. Experimental results......Page 954 References......Page 956 1. Introduction......Page 957 2.2. Orin-Marhefka Model......Page 959 2.3. Proposed Model......Page 960 3. Simulation Results......Page 961 4. Discussion......Page 962 References......Page 963 1. Introduction......Page 964 2. Bipedal Locomotion Patterns......Page 965 3. Nonlinear Oscillators System......Page 967 4. Application of the System......Page 969 References......Page 971 1. Introduction......Page 972 2. LindenLabs' SecondLife......Page 973 3. Physics modeling and simulation......Page 975 4. Physics engine limits as a simulator for climhing and walking rohots......Page 976 5. Discussion......Page 978 References......Page 979 Section-15: Perception, Sensing and Sensor Fusion......Page 980 1. Introduction......Page 982 2.2.1. Gr01lnd-sensor group......Page 983 2.3. Contour following......Page 984 3.1.2. TerTain sweep......Page 985 3.2. Contour following......Page 987 4. Experiments......Page 988 References......Page 989 2. The basics of optical motion measurement......Page 990 2.1. Related work......Page 991 3.1. Basic assumptions......Page 993 3.2. Sensor parameters and the effect of texture......Page 994 3.3. Simulation results......Page 995 References......Page 997 1. Introduction......Page 998 3. Algorithm components......Page 999 4. Implementation......Page 1002 References......Page 1003 1. Introduction......Page 1004 2. Omnidirectional vision system......Page 1005 3. Structure from motion method: motion field estimation......Page 1006 4. Analysing human-robot interaction: study case six-legged robot's manipulator......Page 1008 5. Conclusions......Page 1010 References......Page 1011 1. Introduction......Page 1012 2. The Design of The Calibration Equipment for the Six-Component Force-Torque Sensors......Page 1014 3. The Control of the Walking Humanoid Stability......Page 1016 4. The Control of the Walking Leg Dynamics......Page 1017 References......Page 1018 1. INTRODUCTION......Page 1020 2. DEVELOPMENT......Page 1021 2.2. The kheNose Modules......Page 1022 3. kheNose SOFTWARE ORGANISATION......Page 1023 This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. It contains peer-reviewed articles presented at the CLAWAR 2008 conference. Robots are no longer confined to industrial manufacturing environments; rather, a great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high-profile international event, acts as a platform for dissemination of research and development findings to address the current interest in mobile robotics in meeting the needs of mankind in various sectors of the society. These include personal care, public health, and services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general, and in mobile robotics specifically.