Kooperativer Bibliotheksverbund

UID:

Format: XXXI, 420 p. 273 illus., 241 illus. in color. , online resource.

Edition: 1st ed. 2024.

ISBN: 9783031472725

Series Statement: Lecture Notes in Networks and Systems, 811

Content: CLAWAR 2023 is the 26th International Conference Series on Climbing and Walking Robots and Mobile Machine Support Technologies. The conference is organized by CLAWAR Association in collaboration with the Federal University of Santa Catarina, Florianópolis, Brazil, during October 2-4, 2023. This book provides the latest research and development findings and state-of-the-art insights into the mobile robotics and associated technologies in a diverse range of application scenarios, within the framework of "Synergetic Cooperation Between Robots and Humans". The topics covered include climbing and inspection robots, education in robotics and robotics in education, hybrid and convertible UAVs, legged robots, multibody systems and mechanism design in robotics, planning and control, robotic navigation, robotics and neurotechnologies for healthcare improvements, and simulation and digital twins in robotic applications. The intended readership includes participants of CLAWAR 2023 conference, worldwide researchers, scientists, and educators in the areas of robotics and related topics. The book is also a good source for courses in robotics and automation, control engineering, mechanical engineering, and mechatronics.

Note: Efficiency optimization of the gear reducer of an overhead power line inspection robot -- Leg mechanism of a quadruped wheeled robot with a 4-dof spherical parallel link mechanism -- A new method of climbing on a high place by elasticity-embedded rocker-bogie vehicle with dynamic motions -- Actively variable transmission robotic leg -- Robotic arm development for a quadruped robot -- A locomotion algorithm for an apodal robot to climb and descend steps.

In: Springer Nature eBook

Additional Edition: Printed edition: ISBN 9783031472718

Additional Edition: Printed edition: ISBN 9783031472732

Language: English

DOI: 10.1007/978-3-031-47272-5

URL: https://doi.org/10.1007/978-3-031-47272-5

URL: Volltext  (URL des Erstveröffentlichers)

UID:

Format: XXXI, 491 p. 388 illus., 337 illus. in color. , online resource.

Edition: 1st ed. 2022.

ISBN: 9783030862947

Series Statement: Lecture Notes in Networks and Systems, 324

Content: This book presents the proceedings of 24th International Conference Series on Climbing and Walking Robots. CLAWAR 2021 is the twenty-fourth edition of International Conference series on Climbing and Walking Robots and the Support Technologies for Mobile Machines. The conference is organized by CLAWAR Association in collaboration with Kwansei Gakuin University on a virtual platform in Takarazuka, Japan, during 30 August-01 September 2021. CLAWAR 2021 brings new developments and new research findings in robotics technologies within the framework of "Robotics for Sustainable Future". The topics covered include biped locomotion, human-machine/human-robot interaction, innovative actuators, power supplies and design of CLAWAR, inspection, legged locomotion, modelling and simulation of CLAWAR, outdoor and field robotics, planning and control, and wearable devices and assistive robotics. The intended readership includes participants of CLAWAR 2021 conference, international robotic researchers, scientists, professors of related topics worldwide, and professors and students of postgraduate courses in Robotics and Automation, Control Engineering, Mechanical Engineering, and Mechatronics.

Note: Section-1: Biped Locomotion -- Studying the two-legged walking system with video capture methods -- Stacked Modulation Architecture for Simultaneous Exploration and Navigation of a Biped Robot -- Continuous inverse kinematics in singular position -- Analysis of biped robot on uneven terrain based on feed-forward control -- Section-2: Human-Machine / Human-Robot Interaction -- The spherical pedal control device for omni-directional mobile robot operation -- Modelling of pedestrians crossing a crosswalk and robot navigation based on its characteristics -- Section-3: Innovative Actuators and Power Supplies -- Design and modelling of a modular robotic joint -- Section-4: Innovative Design of CLAWAR -- The flatworm-like pedal locomotory robotwormesh-II: fundamental properties of pedalwave locomotion -- Experimental investigation of locomotive efficiency of a soft robotic eel with a largely passive body -- Section-5: Inspection -- Residual water removal mechanism for obtaining clear images with sewer pipe inspection robot -- Wireless communication with mobile inspection robots operating while submerged inside oil storage tanks -- Climbing robot to perform radiography of wind blades -- Section-6: Legged Locomotion -- Simulation-based climbing capability analysis for quadrupedal robots -- Enhancing legged robot navigation of rough terrain via tail tapping -- Section-7: Modelling and Simulation of CLAWAR -- Trajectory planning strategy for the links of a walking human-machine system using a neural network -- Passive motion analysis of two identical regular octagonal objects that move on passively vibrating tilted stage -- Analysis of passive dynamic gait of tensegrity robot -- Section-8: Outdoor and Field Robotics -- Semi-autonomous mobile robot for environmental surfaces disinfections against SARS-CoV-2 -- Horizontal drilling with seabed robotic explorer -- Development of the object transfer robot with variable height using a pantograph-type jack system -- Section-9: Planning and Control -- Learning and transfer of movement gaits using reinforcement learning -- Rolling resistance model and control of spherical robot -- Experimental investigations of the controlled motion of the roller racer robot -- Generation of the self-motion manifolds of a functionally redundant robot using multi-objective optimization -- Section-10: Wearable Devices and Assistive Robotics -- Evaluation method of gait motion of a patient received total knee arthroplasty using correlation between measurement data and evaluation score -- Lightweight locomotion assistant for people with mild disabilities -- Possibility of getting on/off public vehicle by manual wheelchair with 4 degrees of freedom contact arm mechanism.

In: Springer Nature eBook

Additional Edition: Printed edition: ISBN 9783030862930

Additional Edition: Printed edition: ISBN 9783030862954

Language: English

DOI: 10.1007/978-3-030-86294-7

URL: https://doi.org/10.1007/978-3-030-86294-7

URL: Volltext  (URL des Erstveröffentlichers)

UID:

Format: 1 Online-Ressource (XXXI, 619 p. 336 illus., 309 illus. in color)

Edition: 1st ed. 2023

ISBN: 9783031152269

Series Statement: Lecture Notes in Networks and Systems 530

Additional Edition: Erscheint auch als Druck-Ausgabe ISBN 978-3-031-15225-2

Additional Edition: Erscheint auch als Druck-Ausgabe ISBN 978-3-031-15227-6

Language: English

DOI: 10.1007/978-3-031-15226-9

URL: Volltext  (URL des Erstveröffentlichers)

UID:

Format: 1 Online-Ressource (XXIX, 264 p. 169 illus., 148 illus. in color)

Edition: 1st ed. 2024

ISBN: 9783031472695

Series Statement: Lecture Notes in Networks and Systems 810

Additional Edition: Erscheint auch als Druck-Ausgabe ISBN 978-3-031-47268-8

Additional Edition: Erscheint auch als Druck-Ausgabe ISBN 978-3-031-47270-1

Language: English

DOI: 10.1007/978-3-031-47269-5

URL: Volltext  (URL des Erstveröffentlichers)

UID:

Format: XXXI, 619 p. 336 illus., 309 illus. in color. , online resource.

Edition: 1st ed. 2023.

ISBN: 9783031152269

Series Statement: Lecture Notes in Networks and Systems, 530

Content: This book includes recent research on climbing and walking robots. CLAWAR 2022 is the twenty-fifth International Conference Series on Climbing and Walking Robots and Mobile Machine Support Technologies. The conference is organized by CLAWAR Association in collaboration with the University of the Azores, S. Miguel, Portugal, during September 12-14, 2022. CLAWAR 2022 provides an updated state of the art on robotics and its use in a diversity of applications and/or simulation scenarios, within the framework "Robotics in Natural Settings". The topics covered include Bio-Inspired Robotics, Biped Locomotion, Educational Robotics, Human-Machine/Human-Robot Interaction, Innovative Actuators, Inspection, Legged Locomotion, Modeling and Simulation of CLAWAR, Outdoor and Field Robotics, Planning and Control, Wearable Devices and Assistive Robotics, and the Use of A.I. in Robotics. The intended readership includes participants of CLAWAR 2022 conference, international robotic researchers, scientists, and professors of related topics worldwide, and professors and students of postgraduate courses in Robotics and Automation, Control Engineering, Mechanical Engineering, and Mechatronics.

In: Springer Nature eBook

Additional Edition: Printed edition: ISBN 9783031152252

Additional Edition: Printed edition: ISBN 9783031152276

Language: English

DOI: 10.1007/978-3-031-15226-9

URL: https://doi.org/10.1007/978-3-031-15226-9

UID:

Format: XXIX, 264 p. 169 illus., 148 illus. in color. , online resource.

Edition: 1st ed. 2024.

ISBN: 9783031472695

Series Statement: Lecture Notes in Networks and Systems, 810

Content: CLAWAR 2023 is the 26th International Conference Series on Climbing and Walking Robots and Mobile Machine Support Technologies. The conference is organized by CLAWAR Association in collaboration with the Federal University of Santa Catarina, Florianópolis, Brazil, during October 2-4, 2023. This book provides the latest research and development findings and state-of-the-art insights into the mobile robotics and associated technologies in a diverse range of application scenarios, within the framework of "Synergetic Cooperation Between Robots and Humans". The topics covered include climbing and inspection robots, education in robotics and robotics in education, hybrid and convertible UAVs, legged robots, multibody systems and mechanism design in robotics, planning and control, robotic navigation, robotics and neurotechnologies for healthcare improvements, and simulation and digital twins in robotic applications. The intended readership includes participants of CLAWAR 2023 conference, worldwide researchers, scientists, and educators in the areas of robotics and related topics. The book is also a good source for courses in robotics and automation, control engineering, mechanical engineering, and mechatronics.

Note: Biped walking with robots and exoskeletons: Marching towards bionic gait -- Multibody dynamics with contact-impact events: Roots, models and applications -- Human-like bipedal locomotion -- Analysis of the influence of human exposure to risk and ESG as motivators for the implementation of climbing and mobile robots -- Multidimensional map: A conceptual design tool to develop robots for power lines -- Mobility strategy of multi-limbed climbing robots for asteroid exploration.

In: Springer Nature eBook

Additional Edition: Printed edition: ISBN 9783031472688

Additional Edition: Printed edition: ISBN 9783031472701

Language: English

DOI: 10.1007/978-3-031-47269-5

URL: https://doi.org/10.1007/978-3-031-47269-5

UID:

Format: 1 online resource (443 pages)

Edition: 1st ed.

ISBN: 3-031-47272-1

Series Statement: Lecture Notes in Networks and Systems Series ; v.811

Note: Intro -- Foreword -- Preface -- Acknowledgements -- Contents -- Contributors -- Abbreviations -- Multibody Systems and Mechanism Design in Robotics -- Efficiency Optimization of the Gear Reducer of an Overhead Power Line Inspection Robot -- 1 Introduction -- 2 Inspection Robot Description -- 3 PGT Efficiency -- 4 Efficiency Optimization -- 5 Inspection Robot's Power Consumption -- 6 Results and Discussion -- 7 Conclusions -- References -- Leg Mechanism of a Quadruped Wheeled Robot with a 4-DoF Spherical Parallel Link Mechanism -- 1 Introduction -- 2 Consideration of Leg Mechanism -- 2.1 Required Specifications for Leg Mechanism -- 2.2 Consideration of Proposed Leg DoF Configurations -- 2.3 Designed Leg Mechanism -- 3 Design and Development of the Leg -- 3.1 Specifications of Developed Leg -- 3.2 Detailed Design of Mechanism -- 3.3 System Configuration and Leg Movement Generation -- 4 Evaluation Experiments -- 4.1 Purpose of the Experiments -- 4.2 Movement Experiments During the Swinging Leg -- 4.3 Movement Experiments During the Standing Leg -- 5 Conclusion -- References -- A New Method of Climbing on a High Place by Elasticity-Embedded Rocker-Bogie Vehicle with Dynamic Motions -- 1 Introduction -- 2 Details of the Proposed Method -- 2.1 About SEA and Exciting Motion -- 2.2 Gain Calculation Method for Inverted Pendulum Control -- 3 Verification of the Proposed Method in Simulation -- 3.1 Sequence to Be Verified in Simulation -- 3.2 Verification Results in Simulation -- 4 Verification of the Proposed Method on Actual Robot -- 4.1 Sequence to be Verified on Actual Robot -- 4.2 Verification Results on Actual Robot -- 5 Conclusion -- References -- Actively Variable Transmission Robotic Leg -- 1 Introduction -- 2 Problem Analysis and Specifications -- 3 Design and Testing Setup -- 4 Results and Discussion -- 5 Conclusions and Future Work -- References. , Tensegrity Approaches for Flexible Robots: A Review -- 1 Introduction -- 2 Structural Analysis -- 3 Recent Applications -- 4 Conclusions and Future Work -- References -- Robotic Arm Development for a Quadruped Robot -- 1 Introduction -- 2 Hardware -- 3 Kinematic Analysis -- 4 Simulation -- 4.1 Motion-Planning -- 4.2 Velocity Calculation -- 5 Conclusions -- References -- Wrench Capability Analysis of a Serial-Parallel Hybrid Leg of a Disney's Bipedal Robot -- 1 Introduction -- 2 Wrench Capability with the Davies Method and Scaling Factor -- 3 Problem Formulation for the Hybrid Leg Mechanism -- 4 Wrench Capability of Disney's Bipedal Robot -- 5 Conclusions -- References -- Planning and Control -- Bipedal Walking Robot Control Using PMTG Architecture -- 1 Introduction and Related Work -- 2 Environment Description -- 3 Control Algorithm Architecture -- 3.1 Algorithm Overview -- 3.2 CPG-Based Gait Generator -- 3.3 Inverse Kinematic Solver -- 3.4 RL Agent -- 4 Results -- 5 Conclusions and Future Work -- References -- Adaptive Suspension System Position-Force Control of Wheeled Wall-Pressed In-Pipe Climbing Robot -- 1 Introduction -- 2 Object and Task Statement Description -- 3 Mathematical Model of the WPM -- 4 Results -- 5 Conclusions -- References -- Three-Rigid-Body Model Based NMPC for Bounding of a Quadruped with Two Spinal Joints -- 1 Introduction -- 2 Nonlinear Model Predictive Control with Planar Three-Rigid-Body Model -- 2.1 Planar Three-Rigid-Body Model -- 2.2 NMPC Problem Formulation -- 2.3 NMPC Problem Solution -- 3 Whole-Body Control -- 3.1 WBC Problem Formulation -- 3.2 Control Scheme Overview -- 4 Simulation and Results -- 4.1 Simulation Setup -- 4.2 Results -- 5 Conclusion and Future Work -- References -- Observer-Based Control Model Test in Biped Robot -- 1 Introduction -- 2 Robot's Stability -- 3 The Control Model. , 4 The Design of the Real Robot -- 5 The Simulation -- 6 Applying Inverse Kinematics -- 7 Results and Discussion -- 8 Conclusion -- References -- Nonlinear Model Predictive Control and Reinforcement Learning for Capsule-Type Robot with an Opposing Spring -- 1 Introduction -- 2 Mechanical Model of the system -- 2.1 Optimal Control Problems -- 3 Nonlinear Model Predictive Approach -- 4 NMPC Results -- 5 Reinforcement Learning approach -- 5.1 RL Results -- 6 Comparison and Analysis -- 7 Conclusions -- References -- Neural Control and Learning of a Gecko-Inspired Robot for Aerial Self-righting -- 1 Introduction -- 2 Methods -- 2.1 Gecko-Inspired Robot -- 2.2 CPG-RBF Control Network -- 2.3 Black-Box Optimization (BBO) -- 3 Simulations and Results -- 3.1 Simulation Setup -- 3.2 Robot Aerial Self-righting Results -- 3.3 Aerial Self-Righting Dynamic Movement Analysis -- 3.4 Robot Walking and Locomotion Transition -- 4 Discussion and Conclusion -- References -- Double Gradient Method: A New Optimization Method for the Trajectory Optimization Problem -- 1 Introduction -- 2 Optimization Problem -- 3 Double Gradient Method -- 4 Results -- 5 Conclusion -- 5.1 Algorithm Limitations -- 5.2 Algorithm Applications -- 5.3 Future Works -- References -- Planar Motion Control of a Quadruped Robot -- 1 Introduction -- 2 Dynamic Model and Control of the Legs -- 3 Bézier Curves for Steps -- 3.1 Step and Gait Pattern Using Bézier Curves -- 4 Planar Kinematic Model of the Body -- 4.1 Planar Body Control -- 5 Methodology Implementation and Simulation Results -- 5.1 Simulations and Results -- 6 Conclusions -- References -- Exploring Behaviours for Social Robots -- 1 Introduction -- 2 Brief Overview of Behaviours for Social Robots -- 3 Questionnaires Basics -- 3.1 An Argument Against Standard HRI Questionnaires -- 4 Survey 1: Arm Movements for a Social Robot. , 5 Survey 2: Facial Expressions for a Social Robot -- 5.1 Sparsity Measures -- 5.2 Emotive Mouth Shapes -- 6 Survey 3: Movement for a Social Robot -- 7 Survey 4: Perception of Nonverbal Sounds -- 8 Conclusions -- References -- Impedance Control Analysis for Legged Locomotion in Oscillating Ground -- 1 Introduction -- 1.1 Related Work -- 1.2 Contributions -- 2 Robot Framework -- 2.1 Estimation of Terrain Frequency -- 3 Impedance Analysis -- 4 Conclusion -- References -- Robotic Navigation -- A Cooperative Approach to Teleoperation Through Gestures for Multi-robot Systems -- 1 Introduction -- 2 Proposed Approach -- 2.1 Capture 3D Key Points from RGB-D Image -- 2.2 Trajectory and Movement Strategy -- 2.3 Visual Localization Technique -- 3 Experimental Evaluation -- 3.1 Results -- 4 Conclusion -- References -- NavPi: An Adaptive Local Path-Planning Pipeline for 3D Navigation in Difficult Terrain -- 1 Introduction -- 2 Approach -- 2.1 NavPi Structure -- 2.2 Path Sampler -- 2.3 Obstacle Avoidance -- 2.4 Controller -- 2.5 Safety -- 2.6 Stuck Check -- 3 Results and Experiments -- 4 Conclusion and Future Works -- References -- Indoor Localisation of Mobile Robots with Ultra Wideband Using Experimental TDOA -- 1 Introduction -- 2 Materials -- 3 The Time Difference of Arrival (TDOA) Estimation and Measurement Environment -- 4 Mechanism of Localisation -- 5 Experimental Results -- 6 Conclusion -- References -- Formation Tracking Control of Multiple UAVs in the Presence of Communication Faults -- 1 Introduction -- 2 Preliminaries -- 2.1 Graph Theory -- 2.2 Model -- 2.3 Problem Formulation -- 3 Formation Tracking Control Design -- 4 Results -- 5 Conclusions and Future Works -- References -- Human-Robot Autonomous System: An Interactive Architecture -- 1 Introduction -- 2 Related Work in Socially Aware Navigation Based on Interaction. , 3 Interactive Architecture Applied to a Social Aware Navigation System -- 4 Implementation and Results: Pepper Robot -- 5 Discussions -- 6 Conclusion -- References -- Comparative Analysis of LiDAR SLAM Techniques in Simulated Environments in ROS Gazebo -- 1 Introduction -- 2 Materials and Methods -- 2.1 Resources -- 2.2 Simulated Environments -- 2.3 LiDAR SLAM Techniques -- 2.4 Data Acquisition Method -- 2.5 Results Analysis -- 3 Results -- 3.1 Processing Time Analysis Between Poses -- 3.2 Distance Traveled Error -- 3.3 Final Position Error in Plan xy -- 3.4 Comparative Graphical Analysis between Algorithms -- 3.5 Mapping Results -- 4 Conclusion -- References -- Instance Segmentation to Path Planning in a Simulated Industrial Environment -- 1 Introduction -- 2 Related Literature -- 3 Method -- 4 Results and Analysis -- 4.1 Experimental Results -- 4.2 Analysis -- 5 Conclusion -- References -- Robotics and Neurotechnologies for Healthcare Improvements -- FPGA-Based Emulation of a Muscle Stretch Reflex on an Electric Series Elastic Actuator -- 1 Introduction -- 2 Hardware -- 3 The Control System -- 4 The Reflex Behavior Implementation -- 5 Experiment: Fixed Barrier Strike -- 6 Experiment: Hammer Strike -- 7 Conclusion and Outlook -- References -- Neural Multimodal Control for Versatile Motion Generation and Continuous Transitions of a Lower-Limb Exoskeleton -- 1 Introduction -- 2 Materials and Methods -- 2.1 Mobilized Lower-Limb Exoskeleton -- 2.2 Neural Multimodal Control -- 3 Experimental Results -- 4 Discussion and Conclusions -- References -- Positional Health Assessment of Collaborative Robots Based on Long Short-Term Memory Auto-Encoder (LSTMAE) Network -- 1 Introduction -- 2 Research Methodology -- 2.1 Long Short-Term Memory (LSTM) Autoencoder -- 2.2 The Proposed Architecture -- 3 Experiments -- 3.1 Experimental Test Setup. , 3.2 Process Description.

Additional Edition: ISBN 9783031472718

Language: English