Mobile Service Robotics: CLAWAR 2014 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines Poznan, Poland, 21 - 23 July 2014

TABLE OF CONTENTS 14 Title 2 Preface 6 Conference organisers 8 Conference committees and chairs 9 Conference sponsors and co-sponsors 12 Table of contents 14 Section–1: Plenary presentations 22 Abstractions for legged locomotion 24 1. Introduction 24 2. Leg synchronization 25 2.1. Central pattern generators 28 2.2. Piecewise constance velocity 29 3. Max-plus linear models 30 4. Generic synchronization control 36 4.1. Non-blocking controllers 39 4.2. Incremental topological ordering 42 4.3. Mixed Integer Linear Programming 43 4.4. Specification of a gait 45 5. Synchronization of a class of gaits 46 5.1. Model 46 5.2. Gait parameterization 47 5.3. Properties 49 6. Extensions 50 7. Conclusions 54 8. Acknowledgments 54 Appendix A. Max-plus algebra 54 References 57 Mobile robots coordination and its application to iCART (Intelligent Cooperative Autonomous Robot Transporters) 59 Using kinematic redundancy to design fault tolerant robotic systems 60 CLAWAR to service robots 61 Section–2: Assistive robots 64 Joint parameter mapping method for the control of knee prosthesis 66 1. Introduction 66 2. Human Motion Analysis 67 3. Gait Phase Determination 67 4. Mapping Model of Knee Angle 68 5. Control Method for Prosthesis Based on Mapping Model 70 6. Discussion 71 7. Conclusion 72 References 73 ROBO–MATE: Exoskeleton to enhance industrial production 74 1. Introduction 74 1.1. Brief Overview on Exoskeletons and their Applications 74 1.2. Characteristics of Industrial Automation 76 2. Exoskeletons for Industrial Production Processes 77 2.1. Potential Benefits 77 2.2. Industrial Challenges 77 3. The Robo-Mate Project 78 3.1. Overview 78 3.2. Possible Test Environment 79 3.3. Concept Idea 79 4. Conclusion 79 References 80 A load estimation of a patient considering with a posture during standing motion 82 1. Introduction 83 2. Proposed Load Estimation Scheme 84 3. Experiments 87 4. Conclusion 88 Acknowledgments 89 References 89 Using joint trajectories and time-scaling optimization for humanoid motion imitation of human beings 90 1. Introduction 90 2. Joint trajectories, time and hybrid optimization for dynamic motion imitation 91 2.1. Joint trajectories optimization 92 2.2. Time optimization 93 3. Hybrid optimization framework 94 4. Results 94 5. Conclusion and Future work 96 References 97 Finite state control of exoskeleton and wheel walker for gait restoration 98 1. Introduction 98 2. Computer aided design 99 3. Controller 100 4. Simulation results 102 5. Conclusion 104 References 104 EXO-LEGS for elderly persons 106 1. Introduction 106 2. Key design requirements 107 2.1. EEUG mobility requirements 107 2.2. Human gait analysis 108 3. Modelling and simulation 109 4. Mechanical design 110 5. Embedded system design and control 111 6. Ergonomic user interfacing 112 7. Conclusions 112 References 113 Section–3: Autonomous robots 114 Energy and time minimization by means of trajectory planning in mobile robots 116 1. Introduction 116 2. Overview 117 3. Algorithms 117 4. Results 119 5. Applications 119 6. Future Works 120 7. Summary 120 References 121 Investigation into the influence of the foot attachment point in the body on the four-link robot jump characteristics 122 Introduction 122 1. Mathematical model of the jumping apparatus 123 2. Results of mathematical model 126 3. Conclusion 129 References 129 Optimization of motion primitives for high-level motion planning of modular robots 130 1. Introduction 130 2. Related work 131 3. Optimization of motion primitives 132 4. Optimization and motion planning in simulation 133 5. Optimization on real robots 135 6. Conclusion & Future work 136 References 137 Design and experimental verification of an intelligent wall-climbing welding robot system 138 Introduction 138 1. Related Work 139 2. IWWRS Overview 139 3. Mechanical Design of the Robot Body 140 3.1. Mobile platform 140 3.2. Manipulator 141 4. Control system 141 4.1. Hardware composition for control system 141 4.2. Software solution for control system 142 4.3. Control algorithm 142 5. Experimental verification 143 5.1. Climbing performance verification 143 5.2. Tracking property verification 143 5.3. Welding verification 144 Conclusion 144 References 145 A semi-autonomous manipulator system for decontamination and release measurement 146 1. Introduction and Related Work 146 2. Hardware Setup 147 3. Environment Modeling and Path Planning 149 3.1. Exploration and Model Segmentation 149 3.2. Path Planning and Path Execution 150 4. Simulation and Preliminary Results 151 5. Conclusion and Future Work 152 References 153 Performance of a two wheeled robot with extendable intermediate body on irregular terrains 154 1. Introduction 154 2. System Description and Vehicle dynamic equations 155 3. Control Strategy 156 4. Steering on an inclined terrains of various-frictional grounds 156 5. Inclined surfaces with different frictions and dynamic payload movement 157 5.1. Simulation Results of inclined terrains of 10 degrees with dynamic payload 158 5.2. Inclined terrains of 30 degrees with dynamic payload 159 6. Conclusion 160 References 161 Balancing and control of a two-wheeled robot on inclined surface 162 1. Introduction 162 2. System Description 163 3. Sensor Fusion 164 4. Controller Design 164 5. Experimental Results 165 6. Conclusion 169 References 169 Potential field multi-objective optimization for robot path planning using genetic algorithm 170 1. Introduction 170 2. Motivations and Objectives 171 3. Multi-Objective Optimization using NSGA-II 171 3.1. Background 171 3.2. Optimization of the Robot Size Factor, λ 173 3.3. Optimization of λ and η 176 3.4. Optimization of λ, η and Step Size 177 4. Conclusion 178 References 179 Wheel-walking pneumatically actuated robot 180 1. Description of the geometry of the structure 180 2. Control system 180 3. Possible applications 184 References 185 Section–4: Biologically-inspired systems and solutions 186 Homer’s dream fulfilled — Robotic walking servants 188 1. Beginnings 188 2. Oscillators 191 3. Inverted pendulum 192 4. Conclusions 194 References 195 New foot mechanism with one and two longitudinal arches for biped robots 196 1. Introduction 196 2. Leg Mechanism with Chebyshev Linkages and Its Foot Trajectory 197 3. Foot Mechanism 198 3.1. Human foot mechanism 198 3.2. One-arch foot 199 3.3. Two-arch foot 199 4. Experiment and Discussion 200 4.1. Comparison of flat sole and one-arch foot 200 4.2. Effect of two-arch foot 202 5. Conclusions and Future Works 202 References 203 Adjustment of pressure in antagonistic joints with pneumatic artificial muscles for rapid reacting motions 204 1. Introduction 204 2. Problem definition 205 3. Simulation 206 3.1. Simulation setup 207 3.2. Results and discussion 207 4. Robotic arm experiment 207 4.1. Experimental setup 208 4.2. Results 209 5. Conclusion 209 Acknowledgements 211 References 211 Development of an omnidirectional mobile robot with a spiral-type traveling-wave-propagation mechanism 212 1. Introduction 212 2. Locomotion Mechanism of a Snail 213 3. Spiral-Type Traveling-Wave-Propagation Mechanism 213 3.1. Outline of the mechanism 213 3.2. Driving Test 214 4. Omnidirectional Mobile Robot 215 4.1. Outline of the Omnidirectional Mobile Robot 215 4.2. Method of Transmitting the Traveling wave to the Sheet 216 5. Driving Experiment of the Omnidirectional Robot 217 5.1. Prototype Robot 217 5.2. Driving Experiment 217 5.3. Experimental Results and Discussion 218 6. Conclusion 218 References 219 Self-adjustable transducer for bio-inspired strain detection in walking legs 220 1. Introduction 220 2. Location and Function of Biological Force Sensors 221 3. Transducer Design 222 4. Measurements 224 5. Use on the Robot Leg 225 6. Discussion and Future Work 226 Acknowledgements 227 References 227 Design and motion planning of quadruped robotic platform 228 1. Introduction 228 2. Kinematics and System Design 229 2.1. Kinematic model 229 2.2. QRP model 230 3. Walking Strategy and Simulation 231 3.1. Walking algorithm 232 3.2. Simulated QRP in virtual terrain 233 4. Implementation 234 Conclusion 235 References 235 Motion generalization with dynamic primitives 236 1. Introduction 236 2. Extracting Motion Primitives 237 3. Reproducing Novel Movements with Simulated Data 238 3.1. Generalization study 238 3.2. Generalization from a single line 238 4. Generalization from Human Demonstrations 240 4.1. Reaching task 240 4.2. Evaluation of the movement generalization 241 5. Conclusions 242 Acknowledgements 243 References 243 A study of the complete stride cycle in dynamically stable quadrupedal running 244 1. Introduction 244 2. Stance Duration 245 3. Impact Drag 246 4. Effect of Air Drag 246 5. Leg Return Duration 247 6. Ballistic motion 248 7. Double Stances 248 8. Conclusion 250 References 250 Section–5: Innovative design of CLAWAR 252 An introduction into robot organisms based on CoSMO modules 254 1. Introduction 254 2. The Collective Self-reconfigurable Modular Organism - CoSMO 255 3. Robotic Organisms 256 4. Conclusion and Future Works 260 Bibliography 261 A novel resonant locomotion principle based on impact force for miniature mobile robot 262 1. Introduction 262 2. Locomotion Principle 263 3. Dynamic Model 263 4. Numerical Simulation and Analysis 265 5. Experiment 268 6. Conclusion 270 References 270 Inspection of floating platform mooring chains with a climbing robot 272 1. Introduction 273 1.1. Mooring lines 273 1.2. Current underwater inspection 273 1.3. The Mooring chain environment 274 2. The Moorinspect robot 275 2.1. The climbing strategy 275 2.2. Structural design 276 3. NDT collar deployment 278 4. Testing in air and underwater 278 5. Conclusions 279 Acknowledgments 279 References 279 Friction optimized adhesion control of a wheel-driven wall-climbing robot 280 1. Introduction 280 2. Prototype CREA 281 3. Friction Optimized Sealing Control 282 3.1. Challenges and Concept 282 3.2. Friction Control Components 282 4. Experimental Results 284 4.1. Static Experiments 285 4.2. Dynamic Experiments 286 5. Conclusion 287 References 287 Design of a wheel-legged hexapod robot for creative adaptation 288 1. Introduction 288 2. Background and Context 290 3. Kinematics 291 4. Design Trade-offs 292 5. Mechatronics 294 6. Conclusion 296 Acknowledgments 296 Bibliography 297 Printable modular robot: An application of rapid prototyping for flexible robot design 298 1. Introduction 298 2. From simulation to reality and back 299 3. Module hardware and design 300 3.1. 3D-Printer 301 3.2. Hardware components 301 3.3. Magnetic Module Interconnection 301 4. Control architecture 303 4.1. Topology 303 4.2. Communication protocol 304 4.3. Performance of the communication protocol 305 5. Experimental results 305 6. Conclusions and future work 306 References 306 Section–6: Innovative sensing and actuation 308 Linear electric actuator with a flexible hydraulic transmission 310 1. Introduction 310 2. Construction 311 3. Parameter optimisation 311 4. Simulation 312 5. Experiments 313 6. Conclusion 316 References 317 Outdoor validation of an intelligent prodder for humanitarian demining with a mobile manipulator 318 1. Introduction 318 2. Instrumented prodder 319 2.1. Piezoelectric transducers 320 2.2. Force sensor 321 2.3. Inclinometer 321 3. Robotic Platform 322 4. Indoor and Outdoor tool validation 323 5. Conclusions 324 Acknowledgments 325 References 325 Force and angle feedback prodder 326 1. Introduction 326 2. Sensor selection and mechanical design of the force and inclination angle feedback prodder 327 3. Experimental evaluation of a first prototype 330 4. Conclusions and future work 332 Acknowledgments 333 References 333 Section–7: Locomotion 334 Concurrent optimization of mechanical design and locomotion control of a legged robot 336 1. Introduction 336 2. Parameterization of the Design and Control of the Robot 338 2.1. Design Parameters 339 2.2. Control Parameters 340 3. Optimization 340 4. Results 342 5. Conclusion 343 References 344 Coupled elastic actuation for biped walking 345 1. Introduction 345 2. Model and Coupled Elastic Actuation 346 2.1. Model and assumptions 346 2.2. Coupled elastic actuation 348 3. Dynamics 349 3.1. Bars’ motion phase 349 3.2. Free-rotation phase 350 3.3. Heel strike 350 4. Numerical Simulation Results 350 4.1. Steady gait 350 4.2. Influence of parameters on walking performance 351 4.2.1. Influence of process time τ 351 4.2.2. Influence of amplitude Φ 352 4.2.3. Influence of spring coefficient K 352 5. Extension-hip elastic actuation 354 6. Conclusions 355 References 355 CPG-based control of bipedal walking by exploiting plantar sensation 356 1. Introduction 356 2. Model 357 2.1. Skeletal model 357 2.2. CPG model 358 2.2.1. Leg control 358 2.2.2. Basic components of CPG 359 2.2.3. Design of local sensory feedback 359 3. Results 360 4. Discussions 362 Acknowledgments 363 References 363 Effects of the vertical CoM motion on energy consumption for walking humanoids 364 1. Introduction 364 2. Inverted pendulum dynamics equations 365 2.1. Fixed CoM height solving 366 2.2. Variable CoM height solving 366 3. Modeling 366 3.1. Walking cycle of the humanoid robot 366 3.2. Studied robot 367 3.3. Dynamic model 367 4. Results 369 5. Conclusion 371 References 372 Comparing arc-shaped feet and rigid ankles with flat feet and compliant ankles for a dynamic walker 374 1. Introduction 374 2. Methods 375 3. Experiments and Results 378 4. Discussion and Outlook 380 Acknowledgements 381 Bibliography 381 Adding adaptable toe stiffness affects energetic efficiency and dynamic behaviors of limit cycle walking 382 1. Introduction 382 2. Model 383 3. Experimental Results 386 4. Conclusion 388 Acknowledgment 388 References 388 Online adaptive leg trajectories for multi-legged walking robots 390 1. INTRODUCTION 390 2. LEG TRAJECTORY REPRESENTATION: NATURE VS. ROBOTICS 392 3. ADAPTIVE LEG TRAJECTORY MODEL 393 4. ONLINE ADAPTION WITH GAIT SIMULATOR 394 5. EXPERIMENTS 396 6. DISCUSSION AND CONCLUSIONS 396 7. FUTURE WORKS 397 References 397 Characterizing swing-leg retraction in human locomotion 398 1. Introduction 398 2. Methods 399 2.1. Experiment Description 399 2.2. Swing-Leg Retraction Computations 400 2.3. Data Analysis 401 3. Results 401 4. Discussion 403 5. Conclusion 405 References 405 Virtual impedance path-following walking control for a six-legged robot 406 1. Introduction 406 2. Six-legged Robot and 3D CAD Model 407 3. Walking Planning 408 4. Walking Directional Control 409 4.1. Mathematical Model of the Body in Three Supporting Legs 409 4.2. Model of Rotating Link Setting Virtual Impedance in Support Phase 409 4.3. Motion Equation of Rotating Link 409 4.4. Position and Posture Model of Body 411 4.5. Design of Linear-Quadratic-Integral (LQI) Control System 412 5. 3D Simulations and Consideration 412 6. Conclusion 412 References 413 Development of hexapod walking robot using straight type artificial muscle what can carry a load of 300 N 414 1. Introduction 414 2. Straight-Fiber-Type Artificial Muscle 415 3. Structure of the leg 415 4. Model of the Leg 416 4.1. Mechanical Equilibrium Model of the Artificial Muscle 417 4.2. Displacement of the Leg 418 4.3. Force of the Leg 418 5. Load Characteristic Experiment of the Leg 418 6. Development of the Hexapod Robot 419 7. Load Experiment 420 7.1. Clearance 420 7.2. Walking Experiment 420 8. Conclusion 421 References 421 A configuration optimization algorithm based on quasi-static approach for a UGV 422 1. Introduction 422 2. Nomenclature of the ugv 423 3. Geometry of the ugv 424 4. Quasi-static approach 425 5. Algorithm 426 6. Numerical results 427 7. Conclusion 429 References 429 Transition from walking to running of a bipedal robot to optimize energy efficiency 430 1. Introduction 430 2. Methodology 431 2.1. Mechanical model 431 2.1.1. Continuous phases 432 2.1.2. Discrete transitions 432 2.2. Controller 433 2.3. Hybrid Zero Dynamics 434 3. Optimization 434 4. Results 435 5. Discussion and Conclusion 437 References 437 Graph-search based footstep planning for multi-legged robots on irregular terrain by using depth-sensor 438 1. Introduction 438 2. Sensing and creating a map of the terrain by adepth-sensor 439 3. Problem settings for planning a series of footsteps 440 3.1. Foot arrangement model 440 3.2. Cost function 441 4. Graph based search for a series of footsteps 442 5. Experiments by Computer Simulation 444 6. Conclusions and future work 445 7. Acknowledgment 445 References 445 Haptic foothold suitability identification and prediction for legged robots 446 1. Introduction 446 2. Method 447 2.1. Haptic exploration 448 2.2. Association between haptics and vision 449 2.2.1. Features based on the 3D structure 449 2.2.2. Clustering 450 3. Experiments 451 4. Results 451 4.1. Haptic exploration 451 4.2. Robustness estimation 452 5. Conclusion 453 References 453 Robot-centric elevation mapping with uncertainty estimates 454 1. Introduction 454 2. Method 456 2.1. Definitions 456 2.2. Measurement Update 456 2.3. Model Update 458 2.4. Map Fusion 459 3. Results 459 4. Summary and Future Work 461 References 461 Chassis design of a mobile robot for reducing weight by excluding suspension elements 462 1. Introduction 462 2. Traditional design of a mobile robot chassis 463 3. Exclusion of suspension elements using elastic materials 464 3.1. Fundamental form of a chassis with long air space 464 3.2. Hardening of a chassis in its left and right edges 465 4. Analysis of a chassis flexure using the FEM 465 4.1. Detailed segmentation of triangular surfaces for usingthe FEM 465 4.2. Chassis model for analyzing flexure of a local section 466 4.3. Chassis model for analyzing interactive flexures at four sections 466 5. Verification of dynamic flexure analysis 467 5.1. Fabricated chassis and experimental set 467 5.2. Comparison of flexures depending on chassis material 469 6. Influence of long air space form to flexure and stress 469 7. Conclusion 470 References 471 Influence of external vibration disturbances on a wall climbing robot with vacuum grippers 472 1. Introduction 472 2. The experimental technique 473 3. Response performances of the WCR 475 4. Conclusion 477 References 477 Section–8: Manipulation and gripping 480 Versatile - High power gripper for a six legged walking robot 482 1. INTRODUCTION 482 2. PREQUISITES AND REQUIREMENTS 483 2.1. Walking Robot LAURON V 483 2.2. Grasping with a Walking Robot 484 2.3. Available grippers and requirements 484 3. Gripper Design 485 3.1. Gripper Front 485 3.2. Actuator unit 486 3.3. Gripper-Robot connector 487 3.4. Gripper Control 487 4. RESULTS AND EXPERIMENTS 488 5. CONCLUSIONS AND FUTURE WORKS 488 References 489 Second-order mobility analysis of grasps considering contact surface geometry 490 1. Introduction 490 2. Problem Formulation 491 2.1. Assumptions 491 2.2. Coordinate frames 491 2.3. Relation between the object and finger pose displacements 493 2.4. Constraints of the coordinate frames 493 3. Partial derivatives of the distance 494 3.1. Taylor series of the distance 494 3.2. Curvature Effect 496 4. Conclusions 496 References 497 Pre-configured XY-axis cartesian robot system for a new ATLAS scanning facility 498 1. Introduction 499 2. ATLAS Irradiation Facility 499 3. Pre-Configured XY-Axis Cartesian Robot System 500 4. Thermal Box 501 5. Irradiation Path Profile 502 Conclusions 503 References 504 Section–9: Manufacturing, construction and underwater robotics 506 Safety and performance standard developments for automated guided vehicles 508 1. Introduction 508 2. Bumper Force Test Methods 510 3. Sudden Obstacles and Discussion of ‘Exception’ to Standard 511 4. A New ‘Human’ Test Piece 513 5. Conclusions 515 Design of an all-terrain spherical jumping robot with high-dynamic motion 516 1. Introduction 516 2. Upgrade Mechanisms for Spherical Robots 517 3. Gyroscopic Device 517 4. Jumping mechanism 519 5. General mechanical diagram of robot 520 6. Dynamic simulation of the robot motion 521 7. Materials and Structural Design 521 8. Conclusion 522 References 523 A portable underwater robot with tensegrity body composed of thruster units 524 1. Introduction 524 2. Portable tensegrity underwater robot composed of thruster units 525 2.1. Tensegrity underwater robot composed of pipe-like thruster units 525 2.2. Locomotive properties 526 3. Experimental evaluations 528 3.1. Prototype 528 3.2. Performance of translational and rotational movements 528 4. Summary 529 Acknowledgments 531 References 531 Stability study of underwater crawling robot on non-horizontal surface 532 1. Introduction 532 2. The in-water cleaning robot and its locomotion 533 2.1. Robot concept 533 2.2. Robot locomotion 534 3. Robot stability on the surface 536 3.1. Robot stability in stationary phase 536 3.2. Balancing force during crawling (motion phase) 538 3.3. Torque of M1 during crawling (motion phase) 539 4. Conclusion 540 References 540 Section–10: Medical and rehabilitation robots 542 An analysis of a five-wheeled wheelchair for a static wheelie for climbing a step 544 1. Introduction 544 2. Existing Drive Systems for a Motorized Wheelchair 545 3. Climbing a Step for a Five-wheeled Wheelchair 545 3.1. The Method for Climbing over a Step for the Front Casters 545 3.2. The Kinematics Analysis of the Wheelie Motion 546 4. Prototype Design 549 5. Experiments 550 6. Conclusion 551 References 551 Control of sit-to-stand in paraplegics using ANFIS - Simulation study 552 1. Introduction 552 2. Methods 553 2.1. Model of the Paraplegic 554 2.2. ANFIS Based modelling of knee-joint dynamics 555 2.3. Controllers Design 556 3. Results 557 4. Discussion 558 5. Conclusion 558 6. References 559 Internal models support specific gaits in orthotic devices 560 1. Introduction 560 2. Methods 561 2.1. The device 561 2.2. Controller overview 562 2.2.1. Internal gait models 562 2.2.2. Decision unit 563 2.3. Walking experiments 564 2.4. Quantification of prediction quality 564 3. Results 564 4. Conclusions 566 Acknowledgements 567 Bibliography 567 Robotic-enhanced rehabilitation of patients with ILIZAROV apparatus: Preliminary study 568 1. Introduction 568 2. Preliminary research 569 2.1. Isometric and isotonic study 569 2.2. Determination of ICR position 571 3. Overview of manipulator design projects 572 3.1. Design of rehabilitation manipulator 573 4. Summary 575 References 575 Section–11: Modelling and simulation of CLAWAR 578 3D real-time simulation framework for wall-climbing robots – Towards the new climbing robot CREA 580 1. Introduction 580 2. Concept 582 3. Adhesion Simulation 583 3.1. Sealing Simulation 584 3.2. Simulation of Thermodynamics and Adhesion Forces 585 4. Application 586 5. Conclusions 587 References 587 Dynamic simulation of legged robots using a physics engine 588 1. Introduction 588 1.1. State of the Art 589 2. The Simulator 590 2.1. Environment Model 591 2.2. Robot Model 592 2.3. Collision Detection Module 593 3. Applications of the Simulator 594 3.1. Evolutionary Gait Optimization 594 3.2. Motion Planning and Navigation 594 4. Conclusions 594 References 595 Multi robot simulator for robot operator training in TIRAMISU project 596 1. Introduction 596 2. Architecture 597 3. Experiment 598 3.1. Conclusion 600 Acknowledgements 600 References 600 Section–12: Perception, localisation, planning and control 602 Efficient discontinuity filling in terrain maps for walking robot motion planning 604 1. Introduction 604 2. Related Work 605 3. Inpainting Algorithms 606 3.1. Technique Based on the Fast Marching Method 606 3.2. Technique Based on Fluid Dynamics Analogy 607 4. Experimental Results 608 5. Conclusions 611 Acknowledgments 611 References 611 Influence of walking speed and direction of movement on tactile ground classification process 612 1. Introduction 612 1.1. Related Work 613 1.2. Our Approach 614 2. Robot and Sensor 614 3. Experiments 615 4. Results 615 5. Conclusions 619 References 620 Inexpensive spatial position system for the automation of ultrasound NDT with mobile robots 621 1. Introduction 621 2. Aims and Objectives 622 3. Development of an inexpensive spatial position system 623 3.1. Verification of concept 623 3.2. Wii infrared optical positioning system 624 3.3. Measurement of probe orientation 625 4. Wii camera calibration 625 4.1. Calibration of stereo vision procedure 626 5. Increasing the range of the stereoscopic cameras 626 6. Assessing the accuracy of the stereoscopic camera and IMU system 626 7. Combination of stereo Wii cameras, the IMU and UT system 628 8. Conclusion 629 References 629 Tip-over stability-based path planning for a tracked mobile robot over rough terrains 630 1. Introduction 630 2. Estimating the pose of a tracked mobile robot over rough terrains 631 3. Tip-over stability 633 4. Path planning algorithm 634 5. Results and discussion 635 6. Conclusion and future work 636 Acknowledgement 637 References 637 Stabilization of acrobot after landing 638 1. Introduction 638 2. Stabilization algorithm - approach I 639 3. Stabilization algorithm - approach II 641 4. Control laws’ comparison 642 5. Conclusions 644 References 645 Section–13: Service robots 646 Modeling and simulation of a silo cleaning robot 648 1. Introduction 648 2. Principle of operation 650 3. Dynamic model for the initial phase 651 4. Computer dynamic simulation 654 5. Conclusion 656 References 656 Mechanism design and experiments of a multi-function cleaning robot 657 1. Introduction 657 2. Multi-Function Robotic Cleaner Design 660 2.1. Mechanism design of the multi-function cleaner robot 661 2.2. The working process of the multi-function cleaner robot 662 3. Parameter design and analysis based on kinematics 663 3.1. Motor selection based on statics 663 3.2. Motion performance analysis of the cleaning robot 664 4. Experiments 666 4.1. The test of basic performance parameters 666 4.2. Experiments of vacuum module 667 5. Conclusion 668 References 668 Deploying field robots for humanitarian demining: Challenges, requirements and research trends 670 1. Introduction 670 2. Humanitarian Demining Challenges 671 3. Technologies for Mine Detection 672 4. Robotized Solutions 673 4.1. Requirements 673 4.2. Field Research Robots 674 5. Research Trends 675 6. Conclusion 676 References 677 Agricultural derived machines for humanitarian demining: State of the art 678 1. Introduction 678 2. Agricultural machines used in humanitarian demining 679 3. Vehicle control architecture 682 4. Sensors 683 5. Conclusions 684 Acknowledgments 684 References 684 CREA - A climbing robot with eleven vacuum adhesion chambers 686 1. Introduction 686 2. Climbing Robot CREA 687 2.1. Adhesion System 688 2.2. Sliding Suction Chambers 688 2.3. Locomotion System 690 3. Closed-Loop Control Elements 691 4. Experimental Results 692 5. Conclusion 693 Acknowledgment 693 References 693 Mapping and understanding the human activity: A multilayer framework based on the ideomotor theory 694 1. Introduction 694 2. The ideomotor approach to human activity 696 2.1. Multilayer framework for encoding human activities 696 2.1.1. Perception layer 697 2.1.2. Classification layer 698 2.1.3. Interpretation layer 699 3. Classification results 700 4. Conclusion 701 References 701 Section–14: Robot ethics 704 When children interact with robots: Ethics in the MOnarCH project 706 1. Ethics and Technological Development 706 1.1. General framework 706 1.2. The specificity of the child/robot ethical framework: main issues 707 2. The MOnarCH Project 707 2.1. Aims and Scope 707 2.2. Dealing with Ethical Issues Throughout Different Scenarios 708 2.2.1. Scenario 1: The Joyful Warden 708 2.2.2. Scenario 2: School Teaching Assistant 709 2.2.3. Scenario 3: Interactive Game 710 3. Conclusions 711 Acknowledgments 711 References 712 A normative extension for BDI agent model 714 1. INTRODUCTION 714 2. STATE OF THE ART 715 2.1. Agents, norms, normative agent systems 715 2.2. NoA agents 715 2.3. A BDI architecture for norm compliance - reasoning with norms 716 2.4. Worst consequence 716 3. A NORMATIVE EXTENSION ON THE BDI ARCHITECTURE 717 3.1. Normative BDI agents 717 3.1.1. Consistency check 718 3.1.2. Norm instantiation 719 3.1.3. Solving the conflicts 719 3.1.4. Norm internalization 720 4. AN EXAMPLE 720 5. IMPLEMENTATION 722 6. CONCLUSION 723 7. FUTURE WORK 723 References 724 Revealing the ‘face’ of the robot - Introducing the ethics of Levinas to the field of robo-ethics 725 1. Introduction 725 2. Negotiating Mori's Uncanny Valley 726 3. The Developing the Robotic Mind 727 4. Robo-ethics: A new field for new challenges 728 5. Levinas; looking into the Face of the other (robot?) 729 6. Reacting to Robots: a Discussion 730 7. Moving slowly forward by freeing the robot from being a robot? 731 8. Conclusion 732 References 732 Towards development of ethically compliant robots 736 References 737 Author index 738