Climbing and Walking Robots (eBook)

Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2005)

M. Osman Tokhi, G.S. Virk, M. Alamgir Hossain (Herausgeber)

eBook Download: PDF

2006 | 2006
XX, 1111 Seiten
Springer Berlin (Verlag)
978-3-540-26415-6 (ISBN)

Infos

The interest in climbing and walking robots (CLAWAR) has intensified in recent years, and novel solutions for complex and very diverse applications have been anticipated by means of significant progress in this area of - botics. Moreover, the amalgamation of original ideas and related inno- tions, search for new potential applications and the use of state of the art support technologies permit to foresee an important step forward and a significant socio-economic impact of advanced robot technology in the - ture. This is leading to the creation and consolidation of a mobile service robotics sector where most of the robotics activities are foreseen in the - ture. The technology is now maturing to become of real benefit to society and methods of realizing this potential quickly are being eagerly explored. Robot standards and modularity are key to this and form key components of the research presented here. CLAWAR 2005 is the eighth in a series of international conferences - ganised annually since 1998 with the aim to report on latest research and development findings and to provide a forum for scientific discussion and debate within the mobile service robotics community. The series has grown in its popularity significantly over the years, and has attracted - searchers and developers from across the globe. The CLAWAR 2005 p- ceedings reports state of the art scientific and developmental findings p- sented during the CLAWAR 2005 conference in 131 technical presentations by authors from 27 countries covering the five continents.

Inhalt

Preface 5
Contents 7
Plenary Papers 19
Common Situation Awareness as Basis for Human- Robot Interface 20
Abstract 20
1 Introduction 21
2 Robot used to illustrate the concept 23
5. Spatial awareness 27
6. Common presence and how to build it 28
7. Devices and means for interaction 30
8. Conclusions and discussion 34
References 35
Space Robotics 44
Abstract 44
1 Rationale for Space Robotics 45
2 Architecture of a Space Robot System 47
3 Orbital Robotics 48
4 Planetary Robotics 52
5 Conclusions 53
6 References 54
Bio-Engineering and Biological Inspired Systems 55
ASYSTENT - Control System of a Manipulator for 56
Keyhole Surgery1 56
Abstract 56
1. Introduction 56
2. Telerobotic system - ASYSTANT 57
3. Experimental results 61
4. Conclusions 62
References 63
Abstract 72
1 Introduction 72
Fuzzy Logic Control Strategy for Functional Electrical Stimulation in Bipedal Cycling 72
2 Methods 73
3 Control strategy 74
4 Results 76
5 Conclusion 77
References 79
Abstract 80
1 Introduction 80
Insect-inspired, Actively Compliant Hexapod Capable of Object Manipulation 80
2 Mechanical System 81
3 Electrical System 83
4 Software System 84
5 System Performance 86
Acknowledgements 87
References 87
Abstract 88
1 Introduction 88
Modeling and Simulation of Humanoid Stair Climbing 88
2 Model development 89
3 Gait analysis 90
4 Control strategy 91
5 Conclusion 94
References 95
Abstract 96
Design Issues of Spring Brake Orthosis: Evolutionary Algorithm Approach 96
1 Introduction 97
2 Method 98
3 Results 100
4 Discussion and conclusion 102
Reference 103
Abstract 104
1 Introduction 104
Recent Developments in Implantable and Surface Based Dropped Foot Functional Electrical Stimulators 104
2 Selective surface stimulator 106
3 Implantable stimulators 107
4 Discussion and Conclusions 110
Acknowledgements 111
References 111
Abstract 112
1 Introduction 112
Fluidically Driven Robots with Biologically Inspired Actuators 112
2 Applications 113
3 Conclusions 118
Acknowledgements 118
References 118
Climbing, Navigation and Path Planning 120
Concept for Energy-autarkic, Autonomous Climbing Robots 121
Abstract 121
1. Introduction 121
2. Climbing with passive suction cups 122
3 Behavior of passive suction cups 124
4. General design considerations 126
References 128
A Robot that Climbs Walls using Micro-structur Polymer Fee 145
Abstract 145
1 Introduction 145
2 Mini-Whegs™ 146
3 Bio-inspired Materials 147
4 Robotic Climbing Failure Modes 149
5 Robot Performance 150
6 Discussion 151
Acknowledgements 152
References 152
Novel Solutions to Design Problems of Industrial Climbing Robots 153
Abstract 153
1. Introduction 154
2. Interference of an umbilical with robot mobility and dynamics and the solution 155
3. A low traveling speed of a robot and the solution 156
4. Unforeseen variations of surface curvature of objects and the solution 157
5. Intrinsic safety requirement in flammable environments and the solution 158
6. Conclusion 159
Acknowledgements 160
References 160
Fast Pointing and Tracking System for Mobile Robot Short Range Control via Free Space Optical Laser Line of Sight Communication Link 161
Abstract 161
1 Introduction 161
2 The Pointing and Tracking System 162
3 Control Design 164
3 System Tests and Performance 166
4 Conclusions 167
References 168
Control of CLAWAR 169
Research on Obstacle-navigation Control of a Mobile Robot for Inspection of the Power Transmission Lines Based on Expert System 186
Abstract 186
1 Introduction 186
2 Kinematics Model of inspection robot 188
3 Development of the robot control system based on an 189
expert system 189
4 Experiment 192
5 Conclusion 192
Acknowledgements 193
References 193
Measure of the Propulsion Dynamic Capability of a Walking System 194
Abstract 194
1 Introduction 194
2 Dynamic propulsion criteria 195
3 Dynamic propulsion potential 196
4 Control strategy 198
5 Conclusion and perspectives 200
References 201
Hip Joint Control of a Legged Robot for Walking Uniformly and the Self-lock Mechanism for Compensating Torque Caused by Weight 210
Abstract 210
1 Introduction 210
2 Hip joint control for a designated speed 211
3. Self-lock force by using worms and worm wheels 214
4 Smart combination of the worm gearing mechanism 215
5 Experiments for verifying the speed and the self-lock 216
6 Concluding remarks 217
References 217
Abstract 242
1 Introduction 242
Bus Communication in Robot System Control 242
2 The approach solution 243
3 Bus synchronization 245
4 Bus access arbitration 247
5 Bus connected devices addressing 247
6 Conclusions 248
References 249
Abstract. 258
1 Introduction 258
Model and Control of Joints Driven by Fluidic Muscles with the Help of Advanced Automatic Algorithm Generation Software 258
2 Model of a joint driven by fluidic muscles 259
3 Modelling and control of the elastic joint using the 262
EICAS-Lab software tool 262
4 Conclusion and outlook 265
Acknowledgments 265
References 265
Abstract 282
1 Introduction 282
Control Architecture and Walking Strategy for a Pneumatic Biped Robot 282
2 Mechanical Overview 283
3 Kinematics and Kinetic Analysis 284
4 Locomotion Strategy 287
3 Experimental Results and Conclusions 288
References 289
Abstract 290
1 Introduction 290
Time-scaling Control of a Compass Type Biped Robot 290
2 Dynamic modelling of the compass gait 291
3 The controller 292
5 Simulation results 294
6 Experimental results 295
7 Conclusion 297
References 297
Design Methodology and Gait Generation 298
Integrated Structure-control Design of Dynamically Walking Robots 307
Abstract 307
1 Introduction 307
2 Integrated structure-control design approach 308
3 Design optimisation scheme 309
4 Case studies 310
5 Conclusions 314
References 314
Intuitive Design and Gait Analysis for a Closed Loop Leg Mechanism of a Quadruped with Single Actuator 315
Abstract 315
1 Introduction 315
2 Basic leg design and kinematical analyses 316
3 Engineering details 319
4 Foot trajectory 319
5 Gait analyses 319
6 Comparison between configurations A and B 320
7 Conclusion and scope of work 321
Acknowledgements 322
References 322
Design of a Cockroach-like Running Robot for the 2004 SAE Walking Machine Challenge 323
Abstract 323
1 Introduction 323
2 Problem statement 324
3 Design inspiration 324
4 Simulations 325
5 Mechanical system 326
6 Control system 327
7 Performances 328
8 Future work 329
9 Conclusion 329
Acknowledgements 329
References 329
Finding Adequate Optimization Criteria to Solve Inverse Kinematics of Redundant Bird Leg Mechanism 331
Abstract 331
1 Introduction 331
2 Kinematics and Biological analysis 332
3 Data exploitation 333
4 Solving the inverse kinematics model 335
5 Simulations and results 336
6 Conclusion 338
References 338
Integrated System of Assisted Mechatronic Design for Oriented Computer to Automatic Optimising of Structure of Service Robots (SIDEMAR) 339
Abstract 339
1 Introduction 340
2 The methodology 342
3 Conclusions 345
References 345
Application of Waves Displacement Algorithms for the Generation of Gaits in an All Terrain Hexapod 355
Abstract 355
1 Introduction 355
2 The periodic gait generation algorithm 356
3 Rough terrain gait algorithm 358
References 360
Extensive Modeling of a 3 DOF Passive Dynamic Walker 361
Abstract 361
1 Introduction 361
2 Dynamic model 362
3 Extensive modeling 363
4 Simulation results 365
Acknowledgements 368
References 368
Development of Biped Robots at the National University of Colombia 369
Abstract 369
1 Introduction 369
2 Design methodology 370
3 Dynamic models for biped walkers 371
4 Three biped robots 374
Acknowledgements 376
References 376
Hopping and Legged Robots 385
Standing up with Motor Primitives 394
Abstract 394
1 Introduction 394
2 Classification of vocabularies 395
3 A measure for behavioural diversity 397
4 Experiments 398
5 Results 399
6 Conclusion 400
References 401
Multiple Terrain Adaptation Approach Using Ultrasonic Sensors for Legged Robots 402
1 Introduction 402
2 Body/Ground Distance Control 404
3 Soil Properties Analysis 406
4 Multiple Terrain Adaptation and Obstacle Avoidance 407
5 Conclusions 408
Sliding Mode Observer with o Orientation Measurement for a Walking Biped N 410
1 Abstract 410
2 Introduction 410
3 Model of the biped 411
4 Control law 412
5 Second-order sliding mode observer 413
6 Stability and angular moment 415
7 Conclusion 416
Humanoid Robots 418
Development of a Low-Cost Humanoid Robot: Components and Technological Solutions 427
Abstract 427
1 Introduction 427
2 Mechanical Structure for the Robot 429
3 Motors and Batteries 430
4 Sensors 432
5 Control system architecture 432
6 Conclusions and perspectives 434
References 434
Analysis of Humanoid Robot Lower Extremities Force Distribution in Standing Position 435
Abstract 435
1 Introduction 435
2 Kinematics and physical model of the robot leg 437
3 Force distribution analysis 438
4 Experimental results 439
5 Conclusions 441
Acknowledgements 441
References 442
ZMP Human Measure System 443
Abstract 443
1 Introduction 443
2 Dynamic human walking model 444
3 Hardware system 445
4 Interface 448
5 Experimental results 448
6 Conclusions 450
References 450
Advanced Motion Control System for the Humanoid Robot Rh-0 459
Abstract 459
1 Introduction 459
2 Humanoid robot Rh-0 460
3 Control system of Rh-0 robot 461
4 Experiments 465
5 Conclusions 466
References 466
Humanoid Vertical Jump with Compliant Contact 467
Abstract 467
1 Introduction 467
2 Previous works 468
3 Rigid contact versus a compliant one 471
4 Comparison of compliant contacts 472
5 Conclusions and future works 473
References 474
Locomotion 475
Momentum Compensation for the Dynamic Walk of Humanoids Based on the Optimal Pelvic Rotation 494
Abstract 494
1 Introduction 494
2 Lower Body Analysis Model 496
3 Analysis of Trunk-twistless Walk for Momentum Compensation 498
4 Generation of Optimal Pelvic Rotation 499
5 Evaluation of Humanoid Walk 500
6 Conclusion 500
References 501
Peristaltic Locomotion: Application to a Worm-like Robot 510
Abstract 510
1 Introduction 510
2 Fundamental of peristaltic locomotion 511
3 Previous work 512
4 Overview of the proposed worm robot 513
5 Locomotion module 513
Conclusions and future work 516
Acknowledgement 516
References 517
Proposal of 4-leg Locomotion by Phase Change 526
Abstract 526
1 Introduction 526
2 Walking and Running Locomotion. 527
3 Leg Mechanisms 528
4 Change of Locomotion Pattern by Phase Change 530
5 Basic Experiments by Prototype 531
6 Conclusions 533
References 533
Introducing the Hex-a-ball, a Hybrid Locomotion Terrain Adaptive Walking and Rolling Robot 534
Abstract 534
1 Introduction 534
2 Design of the Hex-A-Ball 535
3 Walking Strategies 537
4 Quasi-Static Rolling Strategies 538
5 Results and Discussion 539
6 Conclusions 541
Acknowledgements 541
References 541
Manipulation and Flexible Manipulators 550
Hybrid Control Scheme for Tracking Performance of a Flexible system 551
Abstract 551
1 Introduction 552
2 Experimental setup 553
3 Hybrid Control Scheme 554
4 Simulation and results 555
5 Conclusions 557
References 558
Abstract 559
Predesign of an Anthropomorphic Lightweight Manipulator 559
Abstract 575
1 Introduction 575
2 The Flexible manipulator system 576
3 Control Schemes 577
4 Results and discussion 579
Simulation and Experimental Studies of Hybrid Learning Control with Acceleration Feedback for Flexible Manipulators 575
1 Introduction 575
2 The Flexible manipulator system 576
3 Control Schemes 577
4 Results and discussion 579
BNN-based Fuzzy Logic Controller for Flexiblelink Manipulator 583
Abstract 583
1 Introduction 583
2 Experimental Rig 584
3 BNN-based Fuzzy Controller 585
4 Experimental Results 588
5 Conclusion 590
References 590
Design Constraints in Implementing Real-time Algorithms for a Flexible Manipulator System 591
Abstract 591
1 Introduction 591
2 The Flexible Manipulator System 592
3 Algorithm Design 594
4 Experiments and Results 596
5 Conclusion 597
References 598
Pay-Load Estimation of a 2 DOF Flexible Link Robot 599
Abstract 599
1 Introduction 599
2 Design model of the system 601
3 Simulation experiment 602
4 Conclusions 605
References 606
Abstract 607
Design of Hybrid Learning Control for Flexible Manipulators: a Multi-objective Optimisation Approach 607
1 Introduction 608
2 The flexible manipulator system 608
3 Control schemes 609
4 The multi-objective genetic algorithm 609
5 Implementations 611
6 Results and discussion 611
7 Conclusion 613
References 614
Abstract 615
Intelligent Modelling of Flexible Manipulator Systems 615
1 Introduction 616
2 The flexible manipulator system 617
4 The simulation environment 619
5 Conclusion and discussion 620
References 622
Wafer Handling Demo by SERPC 623
Abstract 623
1 Introduction 623
2 SERPC Modularity 625
3 Wafer Handling Demonstrator 626
4 Conclusions 629
Acknowledgements 630
References 630
Vision Control for an Artificial Hand 631
Abstract 631
1 Introduction 631
2 General remarks on the applied vision algorithms 632
3 The artificial hand™s construction basics 633
4 Mathematical model of the artificial hand 633
5 Algorithms of vision analysis 635
6 Experiments conducted with the use of the vision 636
system 636
7 Summary 638
Modular, Reconfigurable Robots 647
Methods for Collective Displacement of Modular Self-reconfigurable Robots 648
Abstract 648
1 Introduction 648
2 Simulated robot models 649
3 Reactive algorithms 650
4 The neural network 651
5 Genetic algorithms 653
6 Hybrid systems 653
7 Results 653
8 Conclusion 654
References 655
Suboptimal System Recovery from Communication Loss in a Multi-robot Localization Scenario using EKF Algorithms 656
Abstract 656
1 Introduction 656
2 Multi-robot localization before any communication loss 657
3 Multi-robot localization with communication failures 658
4 Simulated results 661
5 Conclusion and future work 664
Acknowledgements 665
References 665
A Modular Reconfigurable Space Robot Concept 666
Abstract 666
1 Introduction 667
2 MR approaches 668
3 Connectivity towards reconfiguration 669
4 Reduced DOF concept: 670
5 Configurations investigated 671
6 Conclusion 672
References 673
Modularity and System Architecture 682
The Modular Walking Machine, Platform for Technological Equipments 683
Abstract 683
1 Introduction 683
2 Static balancing elastic systems 686
3 The synthesis of static balancing elastic systems 686
Conclusions 690
References 690
Abstract 691
1 Introduction 691
2 YaMoR – mechanics and electronics 692
3 Bluetooth – the wireless interface to YaMoR 693
4 Bluemove – controlling YaMoR via Bluetooth 694
5 Exploring locomotion 696
6 Future work 697
Acknowledgements 698
References 698
On the Development of a Modular External-pipe Crawling Omni-directional Mobile Robot 699
Abstract 699
1 Introduction 699
2 Design Scheme 700
3 Conclusion - Future Work 705
Acknowledgements 706
References 706
Modularity and Component Reuse at the Shadow Robot Company 707
Abstract 707
1 Introduction 707
2 Reuse in other fields 707
3 Project History reuse 708
4 Pattern of Reuse 711
5 Issues and Lessons we found in doing this 712
5 Classification of levels of reuse 712
6 Some Reusable Components 713
7 Conclusion 714
Acknowledgements 714
References 714
CLAWAR Design Tools to Support Modular Robot Design 715
Abstract 715
1 Introduction 715
2 Operational environments 717
3 Creation of design concepts 718
4 Rules and regulations 720
5 Analysis tools 720
6 Conclusions 721
Acknowledgements 722
References 722
Powering, Actuation, Efficiency 723
Pneumatic Actuators for Serpentine Robot 724
Abstract 724
1 Introduction 724
2 Review of candidate joint actuators 726
3 Pneumatic actuators 728
4 The Integrated Joint Actuator for serpentine robots 729
5 Conclusions 730
Acknowledgements 731
References 731
Nontraditional Drives for Walking Robots 732
Abstract 732
1 Introduction 732
2 Design of drives with changing transmission ratio 734
3 Experiments and simulations 737
4 Conclusions 738
Acknowledgments 738
References 739
Energy Efficiency of Quadruped Gaits 740
Abstract 740
1 Introduction 740
2 Quadruped robot model and control architecture 741
3 Measures for performance evaluation 743
4 Simulation results 743
5 Conclusions 746
References 747
Sensing and Sensor Fusion 788
New Advances on Speckle-velocimeter for Robotized Vehicles 789
Abstract 789
1. Introduction 789
2 The experimental set-up 791
3 Experiment results and discussion 792
Conclusion 796
Acknowledgements 796
References 796
Information Processing in Reactive Navigation and Fault Detection of Walking Robot 797
Abstract 797
1 Introduction 797
2 Fault detection and classification in a legged robot 798
3 Experimental results 801
Conclusion 804
Acknowledgment 804
References 804
Intelligent Sensor System and Flexible Gripper for Security Robots 805
Abstract 805
1. Security and surveillance robots 805
2. Intelligent sensor system for security robots 808
3. Flexible Gripper 809
4 Conclusions 812
References 812
Search Performance of a Multi-robot Team in Odour Source Localisation 813
Abstract 813
1 Introduction 813
2 Navigational Strategies 814
3 Experimental Setup 815
5 Conclusions 819
References 820
A “T-shirt Based” Image Recognition System 821
Abstract 821
1 Introduction 821
2 Related works 822
3 Development of the “T-shirt based” image recognition system 823
3.1 Hardware and software 823
3.2 Formulation of the problem 824
3.3 First stage: image recognition 825
3.4 Second stage: calculating the parameters™ values 826
3.5 Experimental results and discussion 827
4 Conclusions 828
References 828
Object Shape Characterisation using a Haptic Probe 829
Abstract 829
1 Introduction 829
2 Description of the haptic probe system 831
3 Object detection simulation 833
4 Simulation Results 834
5 Conclusion 835
References 836
Software and Computer-aided Environments 845
Simulator for Locomotion Control of the Alicia Climbing Robot 846
Abstract 846
1 Introduction – Description of Alicia 846
2 Alicia Simulator – global description 848
3 Control Algorithms for locomotion 851
4 Conclusion 852
References 853
A General Platform for Robot Navigation in Natural Environments 854
Abstract 854
1 Introduction 854
2 Vision-based navigation 855
3 A platform for robot navigation 856
4 The user interface for vision-based navigation control 858
5 Navigation experiments 860
6 Conclusions 861
Acknowledgements 861
References 861
Abstract 862
Simulations of the Dynamic Behavior of a Bipedal Robot with Torso Subjected to External Eisturbances 862
1 Introduction 863
2 Stabilization with a simple trunk with 4 DOFs 863
3 Stabilization with trunk and arms 866
4 Stabilization during handling of an object 868
5 Conclusion 869
References 869
System Analysis, Modelling and Simulation 870
Analysis of the Direct and Inverse Kinematics of ROMA II Robot 871
Abstract 871
1 Introduction 871
2 Direct kinematics 872
3 Inverse kinematics 874
Acknowledgements 876
4 Conclusions 876
References 876
Industrial Applications 893
Machine Vision Guidance System for a Modular Climbing Robot used in Shipbuilding 894
Abstract 894
1 Introduction 894
2 Robot description 896
3 Machine vision guidance system 898
4 Conclusions 900
Acknowledgements 901
References 901
A Locomotion Robot for Heavy Load Transportation 902
Abstract 902
1 Introduction 902
2 Design concept 903
3 Design of prototype 904
4 Experiments 907
5 Conclusions 909
References 909
Using Signs for Configuring Work Tasks of Service Robots 910
Abstract 910
1 Introduction 910
2 Previous Research 911
3 Experimental results 912
4 Conclusions 916
References 917
System for Monitoring and Controlling a Climbing and Walking Robot for Landslide Consolidation 918
Abstract 918
1 Introduction 918
2 CLAWAR Technology Used for Slope/Landslide Consolidation 919
3 Requirements on Robot Technology in Slope/Landslide Consolidation 920
4 Conclusion 925
References 925
Non-destructive Testing Applications 926
Small Inspection Vehicles for Non-Destructive Testing Applications 927
Abstract 927
1 Introduction 927
2 Locomotion and Climbing Mechanism 928
3 NDT method based on MFL inspection 930
4 Experimental Results 931
5 Summary and further work 933
Acknowledgements 933
References 933
Tanks with a Swimming and Climbing Robot Automated NDT of Floating Production Storage Oil 935
Abstract 935
1 Introduction 935
2 The inspection environment 937
3 Access to welds with a swimming and climbing robot 937
4 NDT requirements and proposed techniques 938
5 Robot Design 940
References 942
7-axis Arm for NDT of Surfaces with Complex & Unknown Geometry
Abstract 943
1 Introduction 943
2 The robotic system 944
3 The advantages of the compilation 947
4 Contact force 949
5. Conclusion 949
Acknowledgements 950
References 950
Personal Assistance Applications 951
Modeling and Control of Upright Lifting Wheelchair 968
Abstract 968
1 Introduction 968
2 Methods 969
3 Results 974
4 Conclusion 975
References 975
An Application of the AIGM Algorithm to Hand-Posture Recognition in Manipulation 984
Abstract 984
1 Introduction 984
2 Algorithm 986
3 Experimental Results 989
4 Conclusions 991
References 991
Security and Surveillance Applications 992
AirEOD: a Robot for On-board Airplanes Security 993
Abstract 993
1 Introduction 993
2 AirEOD mechatronic design 995
3 AirEOD control system and interface 998
4 Conclusions 999
Acknowledgements 1000
References 1000
Space Applications 1019
Tele-operation, Social and Economic Aspects 1082
Economic Prospects for Mobile Robotic Systems, 1091
Abstract 1091
New Modular Components 1091
1 Introduction 1092
2 Proposed contents of the full assessment paper due 1093
2005/2006 1093
3 Future applications analysis and summary 1095
4 Conclusions 1096
Acknowledgements 1097
References 1097
Stimulation Gait Restoration by Functional Electrical 36
Abstract 36
1 Basics of FES 36
2 FES-aided gait 38
Design Drivers for Robotics Systems in Space 1020
1 Space Applications of Robotics 1020
1.1 In-orbit assembly of large space structures. 1020
1.2 Inspection and repair of spacecraft. 1022
1.3 Salvaging/rendering harmless expended satellites 1022
1.4 Planetary exploration 1022
2 Design Drivers for Robotics Systems in Space 1024
2.1 Lightweight 1025
3 Conclusion 1027
A Robotics Task Scheduler - TAPAS 1028
1 Background 1028
2 Description 1029
3 Techniques 1032
4 Conclusion 1032
References 1033
Mobile Mini-Robots For Space Application 1034
Abstract 1034
1 Solar power from space 1034
2 Furoshiki Net Concept 1035
3 Roby-Sandwich 1037
4 Roby-Insect 1039
5 Conclusion 1040
References 1041
Teleagents for Exploration and Exploitation in Future Human Planetary Missions 1042
1 Introduction 1042
2 Teleagents for Moon exploration 1044
2.1 Exploration robots 1044
2.2 Exploitation and construction teleoperators 1046
3 Teleagents for mars exploration 1047
4 Conclusions 1049
References 1049
An Expandable Mechanism for Deployment and Contact Surface Adaptation of Rover Wheels 1050
1 Introduction 1050
2 Deployable mechanisms 1051
3 Proposed mechanism design 1053
4 Contact geometry adaptation 1055
A New Traction Control Architecture for Planetary Exploration Robots 1058
Abstract 1058
1 Introduction 1058
2 The IR-TCA on a Planar Robot 1059
3 Results of Simulations 1061
4 The IR-TCA of P6W 1062
5 Conclusion 1065
References 1065
The Lemur II-Class Robots for Inspection and Maintenance of Orbital Structures: A System Description 1066
Abstract 1066
1 Inspection and Maintenance of Orbital Structures 1067
2 Other Robots Relevant to the Lemur-class Concept 1067
3 Lemur Platform Overview 1068
4 Limbs and Tools 1068
6 Electronics 1070
7 Software Architecture 1071
8 Operational Algorithms 1072
9 Conclusions and Future Work 1072
References 1073
Lemur IIb: a Robotic System for Steep Terrain Access 1074
1 Untethered climbing on steep terrain 1075
2 Other Robots Relevant to the Lemur IIb Concept 1075
3 Lemur IIb platform overview 1076
4 Climbing end-effectors 1077
5 Operational algorithms 1079
6 Conclusions and future work 1080
References 1081
Tele-operation, Social and Economic Aspects 1082
Robot Virtual Immersion for Tele-Controlling a Hexapod 1083
1 Introduction 1083
2 Test Platform LAURON III 1084
3 The Immersive Virtual Reality System 1085
4 Experiments 1088
5 Conclusion and Outlook 1089
Economic Prospects for Mobile Robotic Systems, New Modular Components 1091
Abstract 1091
1 Introduction 1092
2 Proposed contents of the full assessment paper due 2005/2006 1093
3 Future applications analysis and summary 1095
4 Conclusions 1096
Appendix A: CLAWAR 2005 Organisation 1098
Appendix B: CLAWAR 2005 Reviewers 1100
Appendix C: CLAWAR 2005 Sponsors & Co-Sponsors
Author Index 1102

Produkt-Details

• Erscheint lt. Verlag: 5.5.2006
• Zusatzinfo: XX, 1112 p. 674 illus.
• Verlagsort: Berlin
• Sprache: englisch
• Themenwelt: Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
• Themenwelt: Technik ► Bauwesen
• Themenwelt: Technik ► Elektrotechnik / Energietechnik
• Themenwelt: Technik ► Maschinenbau
• Schlagworte: Climbing Robots • Design • Development • Mobile Machines • Navigation • robot • Robotics • sensing • Sensor • Simulation • System Analysis • Walking Robots
• ISBN-10: 3-540-26415-9 / 3540264159
• ISBN-13: 978-3-540-26415-6 / 9783540264156