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

UID:

Format: 1 online resource (282 pages)

Edition: First edition.

ISBN: 3-031-47269-1

Series Statement: Lecture Notes in Networks and Systems Series ; Volume 810

Note: Intro -- Foreword -- Preface -- Acknowledgements -- Contents -- Contributors -- Abbreviations -- Plenary Presentations -- Biped Walking with Robots and Exoskeletons: Marching Towards Bionic Gait -- Multibody Dynamics with Contact-Impact Events: Roots, Models and Applications -- Human-Like Bipedal Locomotion -- Climbing and Inspection Robots -- Analysis of the Influence of Human Exposure to Risk and ESG as Motivators for the Implementation of Climbing and Mobile Robots -- 1 Introduction -- 2 Related Work -- 3 Discussion and Results -- 3.1 Trend Analysis in Climbing and Mobile Robots -- 3.2 Robots Developed by the SENAI Innovation Institute for Manufacturing Systems -- 4 Conclusion -- References -- Multidimensional Map: A Conceptual Design Tool to Develop Robots for Power Lines -- 1 Introduction -- 2 Mechanical Strength of Power Lines -- 2.1 Catenary Modelling -- 2.2 Forces from a Concentrated Load on the Power Line -- 2.3 Safety Factor for a Robot on Standby -- 2.4 Safety Factor for Installing a Robot on a Power Cable -- 3 Electronic Control Specifications and Power Supply -- 4 Conceptual Design Tool to Evaluate Power Line Robots -- 5 Case Study: Center of Mass Maneuvering Robot -- 6 Discussion -- 7 Conclusions -- References -- Mobility Strategy of Multi-limbed Climbing Robots for Asteroid Exploration -- 1 Introduction -- 1.1 Related Works -- 1.2 Objective and Contributions -- 2 Mobility Strategy in Microgravity -- 2.1 Gait Planning -- 2.2 Motion Planning -- 3 Simulated Case Studies -- 4 Experimental Case Study -- 5 Conclusions -- References -- Low-Cost Prototype for Analysis and Monitoring of Underwater Structures -- 1 Introduction -- 2 Methodology -- 2.1 Sonar -- 2.2 Mechanical Design -- 2.3 Embedded Electronics -- 2.4 Pre-processing -- 2.5 Pos-processing -- 3 Experimental Results -- 4 Conclusion -- References. , Swerve Drive Autonomous Robot for Tiles Thermographic Inspection -- 1 Introduction -- 2 Description of the Robotic System -- 2.1 Mechanical System Description -- 2.2 Electronics and Communication -- 3 Control Architecture -- 3.1 Robot Description and Navigation Package -- 4 Inspection Test and Strategy -- 4.1 Image Processing for Hollowness Identification -- 5 Conclusions -- References -- Walking Robot Applied to the Tube Inspection Activity -- 1 Introduction -- 2 State of Art -- 2.1 Pipe Environment -- 2.2 Robots Attribute -- 2.3 Robots Categories -- 2.4 Legged Type of Robot -- 3 Development -- 3.1 Structural Synthesis -- 3.2 Type and Dimensional Synthesis -- 4 Results -- 5 Conclusion -- References -- Hybrid Omnidirectional Wheeled Climbing Robot with an Electromagnet for Inspection -- 1 Introduction -- 2 Materials and Methods -- 2.1 Robot Hardware -- 2.2 Robot Control -- 3 Experiments and Results -- 3.1 1st Experiment: Adhesion and Friction -- 3.2 2nd Experiment: Different Wheel Configurations -- 3.3 3rd Experiment: Payload -- 4 Discussion and Conclusion -- References -- Education in Robotics and Robotics in Education -- A Didactic Approach to Energy-Based Dynamic Modeling: Least Action, D'Alembert Principle and Euler-Lagrange Formalism -- 1 Introduction -- 2 Functional and Least Action -- 2.1 Case Study to Understand the Concept of Functional and Action -- 2.2 Case Study to Understand the Concept of Least Action -- 3 The Principle of D'Alembert -- 3.1 Case Study of Modeling Dynamics for a Simple System Using the Principle of D'Alembert -- 3.2 Case Study of Differential Kinematics and Statics of a Robotic Manipulator Using the Principle of D'Alembert -- 4 Euler-Lagrange Formalism -- 4.1 Case Study of Modeling Dynamics for a Simple System Using the Euler-Lagrange Formalism. , 4.2 Case Study of Modeling Dynamics for a 2 DOF Mechanism Using the Euler-Lagrange Formalism -- 5 Conclusion -- References -- Energy Efficiency Analysis of Differential and Omnidirectional Robotic Platforms: A Comparative Study -- 1 Introduction -- 2 Methodology -- 2.1 Kinematics -- 2.2 Trajectory Control -- 3 Results and Discussion -- 4 Conclusions and Future Work -- References -- Design and Development of an Omnidirectional Mecanum Platform for the RobotAtFactory 4.0 Competition -- 1 Introduction -- 2 State of the Art -- 3 Development and Results -- 3.1 Hardware Architecture -- 3.2 Kinematics Models -- 3.3 Simulation and Real Scenario Comparison -- 4 Conclusion -- References -- Hybrid and Convertible Unmanned Aerial Vehicles -- Single-Segment Analysis for the Performance Optimization of a Tilt-Rotor All-Electric RPAS. ProVANT-EMERGENTIa Project -- 1 Introduction -- 2 Aircraft Modelling -- 2.1 Flight Dynamics Model -- 2.2 Aerodynamic Model -- 2.3 Propulsive Model -- 3 Flight Segments and Case Studies -- 3.1 Vertical Take Off -- 3.2 Hovering -- 3.3 Vertical to Plane-Mode Regime Transition -- 3.4 Plane-Mode Climb -- 3.5 Cruise Straight-and-Level Flight -- 3.6 Plane-Mode Descent -- 3.7 Horizontal to Vertical Regime Transition -- 3.8 Vertical Landing -- 4 Results -- 4.1 Vertical Take-Off -- 4.2 Vertical to Horizontal Transition -- 4.3 Cruise Straight-and-Level Flight -- 5 Conclusions and Future Work -- References -- Parametric Aerodynamic Study of a Convertible Aircraft Using CFD Tools. ProVANT EMERGENTIa Project -- 1 Introduction -- 2 Computational Fluid Dynamics (CFD) -- 3 Setup of the Simulations -- 4 Results -- 4.1 V-Tail -- 4.2 Wing -- 4.3 Fuselage -- 4.4 Whole Aircraft -- 5 Conclusions and Future Work -- References. , Wind Tunnel Study of a VTOL-UAV and Its V-Tail for Its Longitudinal and Directional Aerodynamic Characterisation. ProVANT EMERGENTIa project -- 1 Introduction -- 1.1 State of the Art -- 2 Experimental Setup and Models Description -- 2.1 Wind Tunnel Description. Positioning and Data Acquisition Systems -- 2.2 Models' Adaptation to the Wind Tunnel and Fabrication -- 3 Experimental Procedure -- 4 Corrections and Data Processing -- 4.1 Wind Tunnel Corrections -- 4.2 Aerodynamic Forces and Moments Coefficients Calculation -- 4.3 Data Processing -- 4.4 Statistical Validation of the Experimental Results -- 5 Analysis of the Results -- 5.1 Longitudinal and Directional Characterisation of the Aircraft -- 5.2 Longitudinal Characterisation of the V-Tail with Deflections -- 5.3 Validation of the Results by Means of CFD Simulations -- 6 Conclusion -- References -- Joint State-Parameter Observer-Based Robust Control of a UAV for Heavy Load Transportation -- 1 Introduction -- 2 Octocopter UAV Modeling -- 3 Nonlinear W Control of the Octocopter UAV -- 4 Joint State, Input and Parameter Estimation -- 4.1 Load Parameterization, Sensors, and Control Structure -- 5 Numerical Experiments -- 6 Conclusions -- References -- A Robust Nonlinear Flight Control in the Weighted Sobolev Space for a Quadtiltrotor UAV -- 1 Introduction -- 2 Quadtiltrotor UAV Modeling -- 3 Control Design -- 4 Results -- 5 Conclusions -- References -- Prototyping of a Sealing Cap for a Hybrid Unmanned Aerial Underwater Vehicle with Onboard Instrumentation -- 1 Introduction -- 2 Related Work -- 3 Vehicle Configuration -- 3.1 Proof Capsule for HUAUV -- 3.2 Basic Instrumentation for a HUAUV -- 4 Validation Methodology -- 5 Results, Discussion, and Future Works -- References -- Visual Sensors Benchmark for Development of an Autonomous Navigation Setup for a Hybrid Unmanned Aerial Underwater Vehicle. , 1 Introduction -- 2 System Overview -- 2.1 Watertight Enclosure -- 2.2 System Configuration -- 3 Theoretical Aspects -- 3.1 Related Works -- 3.2 Stereo Vision Observation Model-ZED-M -- 3.3 Stereo Depth Camera-Intel RealSense D435i -- 3.4 Setup Restriction -- 4 Experiment -- 5 Discussion -- 6 Conclusion -- References -- Legged Robots: From Foundations to Current Challenges and Perspectives -- Walking Motion Generation of Bipedal Robot Based on Planar Covariation Using Deep Reinforcement Learning -- 1 Introduction -- 2 Planar Covariation of Limb Elevation Angles During Walking -- 3 Bipedal Robot Model -- 4 Walking Control Methods -- 4.1 Deep Reinforcement Learning -- 4.2 Policy Gradient Methods -- 4.3 Rewards -- 5 Experiments -- 6 Conclusion and Future Works -- References -- FreeLander: A Versatile, Modular, Multi-legged Robot Platform for Complex Terrains -- 1 Introduction -- 2 Materials and Methods -- 3 Experimental Results -- 3.1 Testing the Two-legged Robot with Electromagnetic Feet in Various Pipe Conditions -- 3.2 Testing the Six- and Eight-Legged Robots on Different Terrains -- 4 Discussion and Conclusion -- References -- A Two-Legged Robot for Climbing Vertical Surfaces Based on Pressure-Sensitive Adhesion and Peeling -- 1 Introduction -- 2 Design Overview -- 2.1 Robot Design -- 2.2 Fabrication of the Robot -- 3 Kinematics and Dynamics of the Robot -- 4 Results and Discussion -- 5 Preliminary Testing -- 6 Conclusion -- References -- Stair-Climbing Charts: On the Optimal Body Height for Quadruped Robots to Walk on Stairs -- 1 Introduction and State-of-the-Art -- 2 Computing the Optimal Height for Stair-Climbing -- 2.1 Assumptions and Definitions -- 2.2 Method Description and Definition of Optimal Height -- 3 Stair-Climbing Charts -- 4 Results -- 5 Conclusions -- References -- Author Index.

Additional Edition: Print version: Youssef, Ebrahim Samer El Synergetic Cooperation Between Robots and Humans Cham : Springer International Publishing AG,c2024 ISBN 9783031472688

Language: English