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: 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: 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