CLAWAR2007

10th International Conference on

Climbing and Walking Robots

and the Supporting Technologies for Mobile Machines

16-18 July, 2007

Singapore

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Program Overview :

(Final Program)

Time

16 July 2007

17 July 2007

18 July 2007

8:30 – 8:45

Opening Session
(Venus 1)

Briefing Session
(Venus 1)

Briefing Session
(Venus 1)

8:45 – 9:30

Plenary Talk 1
(Venus 1)

Plenary Talk 2
(Venus 1)

Plenary Talk 3
(Venus 1)

9:30 – 10:00

Tea Break
Foyer of Venus Ballroom

Tea Break
Foyer of Venus Ballroom

Tea Break
Foyer of Venus Ballroom

10:00 – 12:40

M11
Session
(Venus 1)

M12
Session
(Venus 3)

T11
Session
(Venus 1)

T12
Session
(Venus 3)

W11
Session
(Venus 1)

12:40 – 13:45

Lunch
(Venus 2)

Lunch
(Venus 2)

Lunch
(Venus 2)

13:45 – 14:30

Plenary Talk 5
(Venus 1)

Exhibition
(Foyer)

Plenary Talk 4
(Venus 1)

14:30 – 15:00

Tea Break
Foyer of Venus Ballroom

Tea Break
Foyer of Venus Ballroom

Tea Break
Foyer of Venus Ballroom

15:00 – 16:40

M21
Session
(Venus 1)

M22
Session
(Venus 3)

T21
Session
(Venus 1)

 

T22
Session
(Venus 3)

W21
Session
(Venus 1)

W22
Session
(Venus 3)

16:40 – 17:40

 

16:40 – 17:40
Farewell Reception
(Foyer)

18:30 – 20:30

End of Day 1

Awards Banquet
(Mercury Ballroom)
(At Level 5)

End of Conference

End of Day 2

 

 


Advance Program:

Monday, 16 July, Morning


8:30 – 8:45
Opening Speech by the Chair of the School of Mechanical & Aerospace Engineering, NTU

Venus I

8:45 – 9:30
Plenary Talk 1: Bipedal Humanoid Robot and Its Applications
Speaker: Professor Atsuo Takanishi
Venue: Venus I
Session Chair: Osman Tokhi

9:30 – 10:00
Tea Break

10:00 – 12:40
M11 Session: Climbing Robots (1)
Venue: Venus I
Session Chair: Osman Tokhi


10:00 – 10:20
A SLIDING SOCK LOCOMOTION MODULE FOR A RESCUE ROBOT
(Luca Rimassa, Matteo Zoppi and Rezia Molfino)

10:20 – 10:40
ROBOTRAIN AS SNAKELIKE ROBOTIC SYSTEM WITH MINIMAL NUMBER OF DOF
(Vladimir Pavlovsky, Natalia Petrovskaya, Vladimir Evgrafov and Vladimir Pavlovsky, Jr)

10:40 – 11:00
DEVELOPMENT OF A CLIMBING ROBOT FOR WELD INSPECTION
(Jianzhong Shang, Bryan Bridge, Tariq Sattar, Shymal Mondal and Alina Brenner)

11:00 – 11:20
DESIGN OF A NEW LEG MECHANISM FOR THE WHEELED WALL CLIMBING ROBOT
(Hejin Yang, Yili Fu, Zhihai Li and Shuguo Wang)

11:20 – 11:40
INTELLIGENT SPIDER WALKING ROBOT FOR ROUGH TERRAIN
(Michael McCready, Liqiong Tang and Gurvinder Singh Virk)

11:40 – 12:00
ON THE DESIGN OF A FOUR-BAR MECHANISM FOR OBSTACLES CLIMBING WHEELS
(Antonio González, Erika Ottaviano and Marco Ceccarelli)

12:00 – 12:20
THE CONTROL OF QUADRUPED WALKING ROBOT BASED ON BIOLOGICALLY INSPIRED APPROACH
(Choi Hyouk Ryeol, Kang Tae Hun, Koo Ig Mo and Song Young Kuk)

12:20 – 12:40
SERVICING SOLAR POWER PLANTS WITH WALLWALKER
(Ridha Azaiz)

10:00 – 12:40
M12 Session: Walking Robots (1)
Venue: Venus III
Session Chair: Atsuo Takanishi


10:00 – 10:20
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)

10:20 – 10:40
THINKING ABOUT BOUNDING AND GALLOPING USING SIMPLE MODELS
(Kenneth Waldron, Joaquin Estremera, Paul Csonka and Surya Singh)

10:40 – 11:00
RESEARCH ON UNDERACTUATED DYNAMICAL WALKING OF 3D BIPED ROBOT
(Sheng Tao and Ma Hongxu)
11:00 – 11:20
MOVEMENT SIMULATION FOR MERO MODULAR WALKING ROBOT
(Ion Ion, Ion Simionescu, Adrian Curaj and Alexandru Marin)

11:20 – 11:40
DETECTING SOUND SOURCES WITH THE HUMANOID ROBOT RH-1
(Pavel Staroverov, Ricardo Martinez, Dmitry Kaynov, Mario Arbulu, Luis Cabas and Carlos Balaguer)

11:40 – 12:00
CONSTRAINT BASED TRAJECTORY SIMPLIFICATION OF FULL BODY TRAJECTORIES FOR A WALKING ROBOT  (Hanns Tappeiner and Alfred Rizzi)

12:00 – 12:20
DESIGN AND PROBLEMS OF A NEW LEG-WHEEL WALKING ROBOT
(Cristina Tavolieri, Erica Ottaviano, Marco Ceccarelli and Andrea Nardelli)

12:20 – 12:40
A PROPOSAL FOR BIPEDAL LOCOMOTION USING GYROSCOPIC EFFECT
(Pulkit Kapur, Rahul Mukhi and Vinayak)

 

12:40 – 13:45
Lunch
(Venus II)


Monday, 16 July, Afternoon


13:45 – 14:30
Plenary Talk 5: A Road from Walking Machines to Surgical Robots: Digital Mechatronics
Speaker: Professor Steven Dubowsky
Venue: Venus I
Session Chair: Kenneth J. Waldron

14:30 – 15:00
Tea Break

15:00 – 17:40
M21 Session: Supporting Technologies (1)
Venue: Venus I
Session Chair: Giovanni Muscato


15:00 – 15:20
A MODULAR APPROACH FOR CONTROLLING MOBILE ROBOTS (Kristian Regenstein, Thilo Kerscher, Clemens Birkenhofer, Tamim Asfour, J. Marius Zöllner and Rüdiger Dillmann)


15:20 – 15:40
AN APPROACH TO GLOBAL LOCALIZATION PROBLEM USING MEAN SHIFT ALGORITHM
(Giovanni Muscato and Salvatore Sessa)

15:40 – 16:00
CREATING A GESTURE RECOGNITION SYSTEM BASED ON SHIRT SHAPES
(Pavel Staroverov, Silvia Marcos, Dmtry Kaynov, Mario Arbulu, Luis Cabas and Carlos Balaguer)

16:00 – 16:20
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)

16:20 – 16:40
PERFORMANCE METRICES FOR IMPROVING HRI
(Yiannis Gatsoulis and Gurvinder Singh Virk)

16:40 – 17:00
SPARBOT – A ROBOTIC FOCUS MITT TRAINING PLATFORM
(Richard Stokes, Liqiong Tang and Ibrahim A. Al-Bahadly)

17:00 – 17:20
PARALLEL PARTICLE SWARM OPTIMIZATION FOR NETWORKED CLAWAR SYSTEM COOPERATION
(Fabio P. Bonsignorio)

17:20 – 17:40
GA TUNED COLSED-LOOP CONTROL OF SPRING BRAKE ORTHOSIS
(M S Huq, R Massoud, M S Alam and M O Tokhi)

15:00 – 17:40
M22 Session: Climbing Robots (2)
Venue: Venus III
Session Chair: Manuel Armada


15:00 – 15:20
KINEMATICS, SENSORS AND CONTROL OF THE FULLY AUTOMATED FACADE CLEANING ROBOT SIRIUSC FOR THE FRAUNHOFER HEADQUARTERS BUILDUNG, MUNICH
(Norbert Elkmann, Mario Lucke, Tino Krüger and Thomas Stürze)


15:20 – 15:40
GAIT PARAMETER ADAPTATION TO ENVIRONMENTAL PERTURBATIONS IN QUADRUPEDAL ROBOTS
(Elena Garcia, Joaquin Estremera, Pablo Gonzalez de Santos and Manuel Armada)

15:40 – 16:00
ON FOUR LEGS TOWARDS FLEXIBLE AND FAST LOCOMOTION
(Cem Kara, Christian Heckhoff, Thorsten Brandt and Dieter Schramm)

16:00 – 16:20
PATH PLANNING FOR THE "3DCLIMBER"
(Mahmoud Tavakoli, Lino Marques and Aníbal T. de Almeida)

16:20 – 16:40
TERRAIN-ADAPTIVE LOCOMOTION OF A WHEEL-LEGGED SERVICE ROBOT USING
ACTUATOR-BASED FORCE MEASUREMENTS
(Petri Virekoski and Ilkka Leppänen)

16:40 – 17:00
DEVELOPMENT OF AN AMPHIBIOUS HEXAPOD ROBOT BASED ON A WATER STRIDER
(Soh Fujii and Taro Nakamura)

17:00 – 17:20
A WHEELED WALL-CLIMBING ROBOT WITH TWO CLIMBING LEGS
(Zhihai Li, Yili Fu, Hejin Yang and Shuguo Wang)

17:20 – 17:40
A CPG WITH FORCE FEEDBACK FOR A STATICALLY STABLE QUADRUPED GAIT
(Jose Cappelletto, Pablo Estevez, Gerardo Fernandez-Lopez and Juan Carlos Grieco)

 

 


Tuesday, 17 July, Morning


8:30 – 8:45
Briefing by CLAWAR Association
Venus I

8:45 – 9:30
Plenary Talk 2: Robots Walking Down Under
Speaker: Professor John Billingsley
Venue: Venus I
Session Chair: Gurvinder Virk

9:30 – 10:00
Tea Break

10:00 – 12:40
T11 Session: Walking Robots (2)
Venue: Venus I
Session Chair: John Billingsley


10:00 – 10:20
A HOPPING MOBILITY CONCEPT FOR A ROUGH TERRAIN SEARCH AND RESCUE ROBOT (Steven Dubowsky, Jean-Sebastien Plante, Sam Kesner and Penny Boston)


10:20 – 10:40
A STEP TOWARDS PNEUMATICALLY ACTUATED BIPED LOCOMOTION : A BIO INSPIRED PLATFORM FOR STIFFNESS CONTROL
(Giovanni Muscato and Giacomo Spampinato)

10:40 – 11:00
USING OPTIMIZATION TECHNIQUES FOR THE DESIGN AND CONTROL OF FAST BIPEDS (Tobias Luksch, Karsten Berns, Katja Mombaur and Gerrit Schultz)

11:00 – 11:20
POSTURAL STABILITY CONTROL FOR ROBOT-HUMAN COOPERATION FOR SIT-TO-STAND ASSISTANCE (Viviane Pasqui, Ludovic Saintbauzel and Philippe Bidaud)

11:20 – 11:40
TRAJECTORY GENERATOR FOR RHYTHMIC MOTION CONTROL OF ROBOT USING NEURAL OSCILLATORS
(Weiwei Huang, Chee-Meng Chew, Geok-Soon Hong and Nithya Gnanassegarane)

11:40 – 12:00
LEG CONTROL FOR CHANGING LOCOMOTION BETWEEN LEG-TYPE AND WHEEL-TYPE BASED ON EFFECTIVE USE OF TOTAL POWER
(Tokuji Okada, Wagner Tanaka Botelho and Toshimi Shimizu)

12:00 – 12:20
A BASIC VARIABLES SET BASED SCHEME OF ONLINE MOTION PLANNING FOR HUMANOID ROBOTS (Wang Jian, Sheng Tao and Ma Hongxu)

12:20 – 12:40
OPTIMIZED ROBOT DURING ELEVATION OF AN OBJECT: COMPARISON KNEE BENDING IMPRESSION (Hamed Ajabi Naeini and Mostafa Rostami)

 

10:00 – 12:40
T12 Session: Supporting Technologies (2)
Venue: Venus III
Session Chair: Gurvinder Virk


10:00 – 10:20
THE IMPROVEMENT OF STRUCTURAL AND REAL TIME CONTROL PERFORMANCES FOR MERO MODULAR WALKING ROBOTS
(Ion Ion, Luige Vladareanu, Radu Munteanu jr. and Mihai Munteanu)


10:20 – 10:40
IMPROVING PNEUMATIC CYLINDER PERFORMANCE FOR LEGGED ROBOTICS
(Graham McLatchey and John Billingsley)

10:40 – 11:00
INTEGRATED INTELLIGENT MECHROBOT SYSTEM
(Liqiong Tang and Gurvinder Singh Virk)

11:00 – 11:20
MOTION ESTIMATION AND SELF-LOCALIZATION BASED ON COMPUTER VISION AND ARTIFICIAL MARKER DEPOSITION
(Savan Chaniyara, Kaspar Althoefer and Lakmald Seneviratne)

11:20 – 11:40
SOFTWARE AND COMMUNICATION INFRASTRUCTURE DESIGN OF THE HUMANOID ROBOT RH-1 (Dmitry Kaynov, Mario Arbulu, Pavel Staroverov, Luis Cabas and Carlos Balaguer)

11:40 – 12:00
SPRING-ORTHOSIS ASSISTED FES-CYCLING
(Rasha Massoud, Osman Tokhi and Shafiul Alam)

12:00 – 12:20
HIL/SIL BY DEVELOPMENT OF CLAWAR
(Sergiy Dzhantimirov, Frank Palis, Ulrich Schmucker, Andriy Telesh and Yuriy Zavgorodniy)

12:20 – 12:40
DESIGN AND DEVELOPMENT OF MICRO-GRIPPING DEVICES FOR MANIPULATION OF MICRO-PARTS
(Z.W. Zhong, S.K. Nah and S.H. Tan)\

12:40 – 13:45
Lunch
(Venus II)


 

Tuesday, 17 July, Afternoon


13:45 – 14:30
Exhibition
(Foyer)

14:30 – 15:00
Tea Break

15:00 – 17:40
T21 Session: Climbing Robots (3)
Venue: Venus I
Session Chair: Philippe Bidaud


15:00 – 15:20
STABILITY AND GAIT OPTIMIZATION OF A HYBRID LEGGED-WHEELED ROVER
(Byron Johns and Ayanna Howard)


15:20 – 15:40
DEVELOPMENT OF A SEALING SYSTEM FOR A CLIMBING ROBOT WITH UNDERPRESSURE ADHESION (Carsten Hillenbrand, Daniel Schmidt, Karsten Berns, Tim Leichner, Tobias Gastauer and Bernd Sauer)

15:40 – 16:00
AUTONOMOUS CLIMBING MOTIONS FOR CONNECTED CRAWLER ROBOTS
(Sho Yokota, Yasuhiro Ohyama, Hiroshi Hashimoto, Jin-Hua She, Kuniaki Kawabata, Hisato Koabayashi and Pierre Blazevic)

16:00 – 16:20
AN EVOLVED NEURAL NETWORK FOR FAST QUADRUPEDAL LOCOMOTION
(Irene Markelic and Keyan Zahedi)

16:20 – 16:40
DEVELOPMENT OF AN OMNI-DIRECTIONAL MOBILE ROBOT BASED ON SNAIL LOCOMOTION (kuniaki satou and Taro Nakamura)

16:40 – 17:00
ROBOT FOR MOTION IN TUBE
(Jatsun Sergey, Mishenko Vladimir and Jatsun Andrey)

17:00 – 17:20
DESIGN AND CONSTRUCTION OF A ROPE CLIMBING ROBOT
(Juan Pablo Martínez Esponda)

17:20 – 17:40
DEVELOPMENT OF A SUCTION TYPE MINIATURE CLIMBING ROBOT WITH MINIMAL ACTUATORS
(Muthu veerappan Vignesh)

15:00 – 17:40
T22 Session: Supporting Technologies (3)
Venue: Venus II
Session Chair: Heinz Woem


15:00 – 15:20
IN SEARCH OF PRINCIPLES OF ODOUR SOURCE LOCALISATION
(Endre Kadar, Gurvinder Virk and Christodoulos Lytridis)

15:20 – 15:40
MCA2 - AN EXTENSIBLE MODULAR FRAMEWORK FOR ROBOT CONTROL APPLICATIONS
(Klaus Uhl and Marco Ziegenmeyer)

15:40 – 16:00
REAL-TIME COMPUTATIONAL COMPLEXITY OF THE ALGORITHMS FOR A SINGLE LINK MANIPULATOR SYSTEM
(M A Hossain, N H Siddique, M O Tokhi and M S Alam)

16:00 – 16:20
CONTROLLING AN ACTIVELY ARTICULATED SUSPENSION VEHICLE FOR MOBILITY IN ROUGH TERRAIN
(Siddharth Sanan, Sartaj Singh and Krishna K Madhava)

16:20 – 16:40
NEW STANDARDS FOR NEW ROBOTS
(Gurvinder Singh Virk)

16:40 – 17:00
CONTACT PROCESSING IN THE SIMULATION OF CLAWAR
(Ulrich Schmucker, Vadym Rusin, Mykhaylo Konyev and Tamas Juhasz)

17:00 – 17:20
A BIOLOGICALLY INSPIRED ARCHITECTURE FOR CONTROL OF GRASPING MOVEMENTS OF AN ANTHROPOMORPHIC GRIPPER (Sergio Varona Moya, Javier Molina Vilaplana, Alejandro Linares Barranco, Jorge Juan Feliu Battle and Juan Lopez Coronado)

17:20 – 17:40
A CONCURRENT PLANNING ALGORITHM FOR DUAL-ARM SYSTEMS
(CHIEN-CHOU LIN, JEN-HUI CHUANG and TING-WEI CHAN)

 

18:30 – 20:30
Awards Banquet
Venus Ballroom

 

Wednesday, 18 July, Morning


8:30 – 8:45
Briefing by CLAWAR Association
Venus I

8:45 – 9:30
Plenary Talk 3: From Micro to Nano and Swarm Robots
Speaker: Professor Heinz Woen
Venue: Venus I
Session Chair: Jean-Guy Fontaine

9:30 – 10:00
Tea Break

10:00 – 12:40
W11 Session: Walking Robots (3)
Venue: Venus I
Session Chair: Jean-Guy Fontaine


10:00 – 10:20
A SELF-ADJUSTING UNIVERSAL JOINT CONTROLLER FOR STANDING AND WALKING LEGS
(Axel Schneider, Björn Fischer, Holk Cruse and Josef Schmitz)

10:20 – 10:40
AUTONOMOUS BIPEDAL GAIT ADJUSTMENT UNDER PERTURBATIONS
(Lin Yang, Chee-Meng Chew and Aun-Neow Poo)

10:40 – 11:00

STIFFNESS AND DUTY FACTOR MODELS FOR THE DESIGN OF RUNNING BIPED
(Muhammad E. Abdallah and Kenneth J. Waldron)


11:00 – 11:20
GAIN PROPERTY FOR BIPED WALKING VIA LEG LENGTH VARIATION (Tetsuya Kinugasa, Shoichi Miwa, Yannick Aoustin and Christine Chevallereau)


11:20 – 11:40
ROTOPOD: A NOVEL APPROACH TO EFFICIENT LEGGED LOCOMOTION
(Damian Lyons)


11:40 – 12:00
FOOT PLANNING MOTION OF HUMANOID ROBOT RH-1 USING LAG ALGORITHM
(Mario Arbulu, Luis Cabas, Pavel Staroverov, Dmitry Kaynov, Carlos Perez and Carlos Balaguer)

12:00 – 12:20
THE DESIGN OF A HUMANOIDAL BIPED FOR THE RESEARCH ON THE GAIT PATTERN GENERATORS
(Przemyslaw Kryczka and Chee-Meng Chew)

12:20 – 12:40
OBSERVER-BASED CONTROL OF A WALKING BIPED ROBOT: STABILITY ANALYSIS
(Vincent Lebastard, Yannick Aoustin and Franck Plestan)

 

12:40 – 13:45
Lunch
(Venus II)

 

Wednesday, 18 July, Afternoon


13:45 – 14:30
Plenary Talk 4: Climbing Robots for Nondestructive Testing: Historical Perspective and Future Trends
Speaker: Professor Bryan Bridge
Venue: Venus I
Session Chair: Ming Xie

14:30 – 15:00
Tea Break

15:00 – 16:40
W21 Session: Humanoid Soccer Robots
Venue: Venus I
Session Chair: Zhou Changjiu


15:00 – 15:20
A DISTRIBUTED EMBEDDED CONTROL ARCHITECTURE FOR HUMANOID SOCCER ROBOTS
Carlos Antonio Calderon, Changjiu Zhou, Pik Kong Yue, Mike Wong and Mohan Rajesh Elara


15:20 – 15:40
DESIGN OF A HUMANOID SOCCER ROBOT: WUKONG
Qing Tang, Rong Xiong, Jian Chu and Xinfeng Du

15:40 – 16:00
FORMULATION OF DESIRED ZERO MOMENT POINT TRJECTORY USING STATISTICAL METHOD
Lingyun Hu, Changjiu Zhou, Bi Wu and Tianwu Yang

16:00 – 16:20
LOCOMOTION CONTROL SCHEME FOR FAST WALKING HUMANOID SOCCER ROBOT
Weerayut Sawasdee, Pasan Kulvanit and Thavida Maneewarn

16:20 – 16:40
OPTIMUM PERFORMANCE OF THE FAST WALKING HUMANOID SOCCER ROBOT: EXPERIMENTAL STUDY
Pasan Kulvanit, Bantoon Srisuwan and Djitt Laowattana

 

15:00 – 16:40
W22 Session: Supporting Technologies (4)
Venue: Venus III
Session Chair: Yu Haoyong


15:00 – 15:20
HIDDEN MARKOV MODEL BASED FUZZY CONTROLLER FOR FLEXIBLE-LINK MANIPULATOR
(M.N.H. Siddique, M.A. Hossain, M.S. Alam and M.O. Tokhi)


15:20 – 15:40
A NOVEL MINIATURE ATTITUDE MEASUREMENT SYSTEM FOR CLIMBING AND WALKING ROBOTS
(Guanglong Wang, Chunxi Zhang, Zhaoying Zhou and Rong Zhu)

15:40 – 16:00
ASYNCHRONOUS LOCAL POSITIONING SYSTEM BASED ON ULTRASONIC ACTIVE BEACONS AND FEED FORWARD NEURAL NETWORKS
(Pablo Estevez, Juan Hernandez, Jose Cappelletto and Juan Carlos Grieco)

16:00 – 16:20
A SELF ORGANIZING NETWORK MODEL FOR CLAWAR SYSTEM COMMUNICATION COEVOLUTION
(Fabio P. Bonsignorio)

16:20 – 16:40
WALKER SYSTEM WITH ASSISTANCE DEVICE FOR STANDING-UP
(Daisuke Chugo, Wataru Matsuoka and Kunikatsu Takase)

16:40 – 17:40
Farewell Reception
(Foyer)

 

 


Proceedings Book (World Scientific Publisher) :

 

Advances and Techniques in Climbing and Walking Robots

Ming Xie
Nanyang Technological University, SG

Steven Dubowsky
Massachusetts Institute of Technology, USA

Jean-Guy Fontaine
Italian Institute of Technology, Italy

M. Osman Tokhi
University of Sheffield, UK

Gurvinder S. Virk
University of Massey, NZ

 

Table of Contents

Preface

Part I: Plenary Introduction

Chapter 1
Bipedal Humanoid Robot and Its Applications
Atsuo Takanishi

Chapter 2
Climbing up the Wall
John Billingsley,

Chapter 3
From Micro to Nano and Swarm Robots
Heinz Wörn

Chapter 4
Climbing Robots for Nondestructive Testing: Historical Perspective and Future Trends
Bryan Bridge

Chapter 5
Biomechanics and Robotics
Neville Hogan

Part II: Advances in Climbing Robots:

Chapter 1
A CPG WITH FORCE FEEDBACK FOR A STATICALLY STABLE QUADRUPED GAIT
Jose Cappelletto, Pablo Estevez, Gerardo Fernandez-Lopez and Juan
Carlos Grieco

Chapter 3
A SLIDING SOCK LOCOMOTION MODULE FOR A RESCUE ROBOT
Luca Rimassa, Matteo Zoppi and Rezia Molfino

Chapter 4
A WHEELED WALL-CLIMBING ROBOT WITH TWO CLIMBING LEGS
Zhihai Li, Yili Fu, Hejin Yang and Shuguo Wang

Chapter 5
AN EVOLVED NEURAL NETWORK FOR FAST QUADRUPEDAL LOCOMOTION
Irene Markelic and Keyan Zahedi

Chapter 6
AUTONOMOUS CLIMBING MOTIONS FOR CONNECTED CRAWLER ROBOTS
Sho Yokota, Yasuhiro Ohyama, Hiroshi Hashimoto, Jin-Hua She, Kuniaki
Kawabata, Hisato Koabayashi and Pierre Blazevic

Chapter 7
CONTROLLING AN ACTIVELY ARTICULATED SUSPENSION VEHICLE FOR MOBILITY IN ROUGH TERRAIN
Siddharth Sanan, Sartaj Singh and Krishna K Madhava

Chapter 8
DESIGN AND CONSTRUCTION OF A ROPE CLIMBING ROBOT
Juan Pablo Martínez Esponda

Chapter 9
DESIGN OF A NEW LEG MECHANISM FOR THE WHEELED WALL CLIMBING ROBOT
Hejin Yang, Yili Fu, Zhihai Li and Shuguo Wang

Chapter 10
DEVELOPMENT OF A CLIMBING ROBOT FOR WELD INSPECTION
Jianzhong Shang, Bryan Bridge, Tariq Sattar, Shymal Mondal and Alina
Brenner

Chapter 11
DEVELOPMENT OF A SEALING SYSTEM FOR A CLIMBING ROBOT WITH UNDERPRESSURE ADHESION
Carsten Hillenbrand, Daniel Schmidt, Karsten Berns, Tim Leichner,
Tobias Gastauer and Bernd Sauer

Chapter 12
DEVELOPMENT OF A SUCTION TYPE MINIATURE CLIMBING ROBOT WITH MINIMAL ACTUATORS
Muthu veerappan Vignesh

Chapter 13
DEVELOPMENT OF AN AMPHIBIOUS HEXAPOD ROBOT BASED ON A WATER STRIDER
Soh Fujii and Taro Nakamura

Chapter 14
DEVELOPMENT OF AN OMNI-DIRECTIONAL MOBILE ROBOT BASED ON SNAIL LOCOMOTION
kuniaki satou and Taro Nakamura

Chapter 15
GAIT PARAMETER ADAPTATION TO ENVIRONMENTAL PERTURBATIONS IN QUADRUPEDAL ROBOTS
Elena Garcia, Joaquin Estremera, Pablo Gonzalez de Santos and Manuel Armada

Chapter 16
INTELLIGENT SPIDER WALKING ROBOT FOR ROUGH TERRAIN
Michael McCready, Liqiong Tang and Gurvinder Singh Virk

Chapter 17
KINEMATICS, SENSORS AND CONTROL OF THE FULLY AUTOMATED FACADE CLEANING ROBOT SIRIUSC FOR THE FRAUNHOFER HEADQUARTERS BUILDUNG, MUNICH
Norbert Elkmann, Mario Lucke, Tino Krüger and Thomas Stürze

Chapter 18
ON FOUR LEGS TOWARDS FLEXIBLE AND FAST LOCOMOTION
Cem Kara, Christian Heckhoff, Thorsten Brandt and Dieter Schramm

Chapter 19
ON THE DESIGN OF A FOUR-BAR MECHANISM FOR OBSTACLES CLIMBING WHEELS
Antonio González, Erika Ottaviano and Marco Ceccarelli

Chapter 20
PATH PLANNING FOR THE "3DCLIMBER"
Mahmoud Tavakoli, Lino Marques and Aníbal T. de Almeida

Chapter 22
ROBOT FOR MOTION IN TUBE
Jatsun Sergey, Mishenko Vladimir and Jatsun Andrey

Chapter 23
ROBOTRAIN AS SNAKELIKE ROBOTIC SYSTEM WITH MINIMAL NUMBER OF DOF
Vladimir Pavlovsky, Natalia Petrovskaya, Vladimir Evgrafov and Vladimir Pavlovsky, Jr

Chapter 24
SERVICING SOLAR POWER PLANTS WITH WALLWALKER
Ridha Azaiz

Chapter 25
STABILITY AND GAIT OPTIMIZATION OF A HYBRID LEGGED-WHEELED ROVER
Byron Johns and Ayanna Howard

Chapter 27
TERRAIN-ADAPTIVE LOCOMOTION OF A WHEEL-LEGGED SERVICE ROBOT USING
ACTUATOR-BASED FORCE MEASUREMENTS
Petri Virekoski and Ilkka Leppänen

Chapter 28
THE CONTROL OF QUADRUPED WALKING ROBOT BASED ON BIOLOGICALLY INSPIRED
APPROACH
Choi Hyouk Ryeol, Kang Tae Hun, Koo Ig Mo and Song Young Kuk

Chapter 29
THE IMPROVEMENT OF STRUCTURAL AND REAL TIME CONTROL PERFORMANCES FOR
MERO MODULAR WALKING ROBOTS
Ion Ion, Luige Vladareanu, Radu Munteanu jr. and Mihai Munteanu

 

Part III: Advances in Walking Robots:

Chapter 1
A BASIC VARIABLES SET BASED SCHEME OF ONLINE MOTION PLANNING FOR HUMANOID ROBOTS
Wang Jian, Sheng Tao and Ma Hongxu

Chapter 2
A HOPPING MOBILITY CONCEPT FOR A ROUGH TERRAIN SEARCH AND RESCUE ROBOT
Steven Dubowsky, Jean-Sebastien Plante, Sam Kesner and Penny Boston

Chapter 3
A PROPOSAL FOR BIPEDAL LOCOMOTION USING GYROSCOPIC EFFECT
Pulkit Kapur, Rahul Mukhi and Vinayak

Chapter 4
A SELF-ADJUSTING UNIVERSAL JOINT CONTROLLER FOR STANDING AND WALKING LEGS
Axel Schneider, Björn Fischer, Holk Cruse and Josef Schmitz

Chapter 5
A STEP TOWARDS PNEUMATICALLY ACTUATED BIPED LOCOMOTION : A BIO INSPIRED PLATFORM FOR STIFFNESS CONTROL
Giovanni Muscato and Giacomo Spampinato

Chapter 6
AUTONOMOUS BIPEDAL GAIT ADJUSTMENT UNDER PERTURBATIONS
Lin Yang, Chee-Meng Chew and Aun-Neow Poo

Chapter 7
DESIGN AND PROBLEMS OF A NEW LEG-WHEEL WALKING ROBOT
Cristina Tavolieri, Erica Ottaviano, Marco Ceccarelli and Andrea Nardelli

Chapter 8
STIFFNESS AND DUTY FACTOR MODELS FOR THE DESIGN OF RUNNING BIPEDS
Muhammad E. Abdallah and Kenneth J. Waldron

Chapter 10
CONSTRAINT BASED TRAJECTORY SIMPLIFICATION OF FULL BODY TRAJECTORIES FOR A WALKING ROBOT
Hanns Tappeiner and Alfred Rizzi

Chapter 11
FOOT PLANNING MOTION OF HUMANOID ROBOT RH-1 USING LAG ALGORITHM
Mario Arbulu, Luis Cabas, Pavel Staroverov, Dmitry Kaynov, Carlos Perez
and Carlos Balaguer

Chapter 12
GAIN PROPERTY FOR BIPED WALKING VIA LEG LENGTH VARIATION
Tetsuya Kinugasa, Shoichi Miwa, Yannick Aoustin and Christine Chevallereau

Chapter 13
LEG CONTROL FOR CHANGING LOCOMOTION BETWEEN LEG-TYPE AND WHEEL-TYPE BASED ON EFFECTIVE USE OF TOTAL POWER
Tokuji Okada, Wagner Tanaka Botelho and Toshimi Shimizu

Chapter 14
MOVEMENT SIMULATION FOR MERO MODULAR WALKING ROBOT
Ion Ion, Ion Simionescu, Adrian Curaj and Alexandru Marin

Chapter 15
TRAJECTORY GENERATOR FOR RHYTHMIC MOTION CONTROL OF ROBOT USING NEURAL OSCILLATORS
Weiwei Huang, Chee-Meng Chew, Geok-Soon Hong and Nithya Gnanassegarane

Chapter 16
OBSERVER-BASED CONTROL OF A WALKING BIPED ROBOT: STABILITY ANALYSIS
Vincent Lebastard, Yannick Aoustin and Franck Plestan

Chapter 17
OPTIMIZED ROBOT DURING ELEVATION OF AN OBJECT: COMPARISON KNEE BENDING IMPRESSION
Hamed Ajabi Naeini and Mostafa Rostami

Chapter 18
POSTURAL STABILITY CONTROL FOR ROBOT-HUMAN COOPERATION FOR SIT-TO-STAND ASSISTANCE
Viviane Pasqui, Ludovic Saintbauzel and Philippe Bidaud

Chapter 19
RESEARCH ON UNDERACTUATED DYNAMICAL WALKING OF 3D BIPED ROBOT
Sheng Tao and Ma Hongxu

Chapter 20
ROTOPOD: A NOVEL APPROACH TO EFFICIENT LEGGED LOCOMOTION
Damian Lyons

Chapter 21
THE DESIGN OF A HUMANOIDAL BIPED FOR THE RESEARCH ON THE GAIT PATTERN GENERATORS
Przemyslaw Kryczka and Chee-Meng Chew

Chapter 22
THINKING ABOUT BOUNDING AND GALLOPING USING SIMPLE MODELS
Kenneth Waldron, Joaquin Estremera, Paul Csonka and Surya Singh

Chapter 23
USING OPTIMIZATION TECHNIQUES FOR THE DESIGN AND CONTROL OF FAST BIPEDS
Tobias Luksch, Karsten Berns, Katja Mombaur and Gerrit Schultz

Chapter 24
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

Chapter 25
WALKER SYSTEM WITH ASSISTANCE DEVICE FOR STANDING-UP
Daisuke Chugo, Wataru Matsuoka and Kunikatsu Takase

 

Part IV: Advances in Humanoid Soccer Robots:

Chapter 1
A DISTRIBUTED EMBEDDED CONTROL ARCHITECTURE FOR HUMANOID SOCCER ROBOTS
Carlos Antonio Calderon, Changjiu Zhou, Pik Kong Yue, Mike Wong and Mohan Rajesh Elara

Chapter 2
DESIGN OF A HUMANOID SOCCER ROBOT: WUKONG
Qing Tang, Rong Xiong, Jian Chu and Xinfeng Du

Chapter 3
FORMULATION OF DESIRED ZERO MOMENT POINT TRJECTORY USING STATISTICAL METHOD
Lingyun Hu, Changjiu Zhou, Bi Wu and Tianwu Yang

Chapter 4
LOCOMOTION CONTROL SCHEME FOR FAST WALKING HUMANOID SOCCER ROBOT
Weerayut Sawasdee, Pasan Kulvanit and Thavida Maneewarn

Chapter 5
OPTIMUM PERFORMANCE OF THE FAST WALKING HUMANOID SOCCER ROBOT: EXPERIMENTAL STUDY
Pasan Kulvanit, Bantoon Srisuwan and Djitt Laowattana

 

Part V: Supporting Technologies

Chapter 1
A BIOLOGICALLY INSPIRED ARCHITECTURE FOR CONTROL OF GRASPING MOVEMENTS OF AN ANTHROPOMORPHIC GRIPPER
Sergio Varona Moya, Javier Molina Vilaplana, Alejandro Linares Barranco, Jorge Juan Feliu Battle and Juan Lopez Coronado

Chapter 2
A CONCURRENT PLANNING ALGORITHM FOR DUAL-ARM SYSTEMS
CHIEN-CHOU LIN, JEN-HUI CHUANG and TING-WEI CHAN

Chapter 4
A MODULAR APPROACH FOR CONTROLLING MOBILE ROBOTS
Kristian Regenstein, Thilo Kerscher, Clemens Birkenhofer, Tamim Asfour,
J. Marius Zöllner and Rüdiger Dillmann

Chapter 5
A SELF ORGANIZING NETWORK MODEL FOR CLAWAR SYSTEM COMMUNICATION COEVOLUTION
Fabio P. Bonsignorio

Chapter 6
AN APPROACH TO GLOBAL LOCALIZATION PROBLEM USING MEAN SHIFT ALGORITHM
Giovanni Muscato and Salvatore Sessa

Chapter 8
ASYNCHRONOUS LOCAL POSITIONING SYSTEM BASED ON ULTRASONIC ACTIVE BEACONS AND FEED FORWARD NEURAL NETWORKS
Pablo Estevez, Juan Hernandez, Jose Cappelletto and Juan Carlos Grieco

Chapter 9
CONTACT PROCESSING IN THE SIMULATION OF CLAWAR
Ulrich Schmucker, Vadym Rusin, Mykhaylo Konyev and Tamas Juhasz

Chapter 10
CREATING A GESTURE RECOGNITION SYSTEM BASED ON SHIRT SHAPES
Pavel Staroverov, Silvia Marcos, Dmtry Kaynov, Mario Arbulu, Luis Cabas and Carlos Balaguer

Chapter 11
DESIGN AND DEVELOPMENT OF MICRO-GRIPPING DEVICES FOR MANIPULATION OF MICRO-PARTS
Z.W. Zhong, S.K. Nah and S.H. Tan

Chapter 12
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

Chapter 13
DETECTING SOUND SOURCES WITH THE HUMANOID ROBOT RH-1
Pavel Staroverov, Ricardo Martinez, Dmitry Kaynov, Mario Arbulu, Luis Cabas and Carlos Balaguer

Chapter 15
IN SEARCH OF PRINCIPLES OF ODOUR SOURCE LOCALISATION
Endre Kadar, Gurvinder Virk and Christodoulos Lytridis

Chapter 16
GA TUNED COLSED-LOOP CONTROL OF SPRING BRAKE ORTHOSIS
M S Huq, R Massoud, M S Alam and M O Tokhi

Chapter 17
HIDDEN MARKOV MODEL BASED FUZZY CONTROLLER FOR FLEXIBLE-LINK MANIPULATOR
M.N.H. Siddique, M.A. Hossain, M.S. Alam and M.O. Tokhi

Chapter 18
HIL/SIL BY DEVELOPMENT OF CLAWAR
Sergiy Dzhantimirov, Frank Palis, Ulrich Schmucker, Andriy Telesh and
Yuriy Zavgorodniy

Chapter 19
IMPROVING PNEUMATIC CYLINDER PERFORMANCE FOR LEGGED ROBOTICS
Graham McLatchey and John Billingsley

Chapter 21
INTEGRATED INTELLIGENT MECHROBOT SYSTEM
Liqiong Tang and Gurvinder Singh Virk

Chapter 22
MCA2 - AN EXTENSIBLE MODULAR FRAMEWORK FOR ROBOT CONTROL APPLICATIONS
Klaus Uhl and Marco Ziegenmeyer

Chapter 23
MOTION ESTIMATION AND SELF-LOCALIZATION BASED ON COMPUTER VISION AND ARTIFICIAL MARKER DEPOSITION
Savan Chaniyara, Kaspar Althoefer and Lakmald Seneviratne

Chapter 24
NEW STANDARDS FOR NEW ROBOTS
Gurvinder Singh Virk

Chapter 25
PARALLEL PARTICLE SWARM OPTIMIZATION FOR NETWORKED CLAWAR SYSTEM COOPERATION
Fabio P. Bonsignorio

Chapter 26
PERFORMANCE METRICES FOR IMPROVING HRI
Yiannis Gatsoulis and Gurvinder Singh Virk

Chapter 28
REAL-TIME COMPUTATIONAL COMPLEXITY OF THE ALGORITHMS FOR A SINGLE LINK MANIPULATOR SYSTEM
M A Hossain, N H Siddique, M O Tokhi and M S Alam

Chapter 30
SOFTWARE AND COMMUNICATION INFRASTRUCTURE DESIGN OF THE HUMANOID ROBOT RH-1
Dmitry Kaynov, Mario Arbulu, Pavel Staroverov, Luis Cabas and Carlos
Balaguer

Chapter 31
SPARBOT – A ROBOTIC FOCUS MITT TRAINING PLATFORM
Richard Stokes, Liqiong Tang and Ibrahim A. Al-Bahadly

Chapter 32
SPRING-ORTHOSIS ASSISTED FES-CYCLING
Rasha Massoud, Osman Tokhi and Shafiul Alam

Chapter 34
A NOVEL MINIATURE ATTITUDE MEASUREMENT SYSTEM FOR CLIMBING AND WALKING ROBOTS
Guanglong Wang, Chunxi Zhang, Zhaoying Zhou and Rong Zhu


Sponsors

Singapore Tourism Board

CLAWAR Association

Nanyang Technological University

DSO National Laboratories

International Journal of Humanoid Robotics

International Journal of Industrial Robot


Copyright: 10th International Conference on Climbing and Walking Robots