Advances in mobile robotics : proceedings of the Eleventh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Coimbra, Portugal, 8-10 September 2008 / editors, L. Marques ... [et al.].

Format:

Book

Conference/Event

Author/Creator:

International Conference on Climbing and Walking Robots, Corporate Author.

Contributor:

Marques, L. (Lino)

Conference Name:

International Conference on Climbing and Walking Robots (11th : 2008 : Coimbra, Portugal)

International Conference on Climbing and Walking Robots

Language:

English

Subjects (All):

Mobile robots--Congresses.

Mobile robots.

Robots, Industrial--Congresses.

Robots, Industrial.

Physical Description:

1 online resource (1312 p.)

Place of Publication:

Singapore ; Hackensack, NJ : World Scientific, c2008.

Language Note:

English

Summary:

This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. It contains peer-reviewed articles presented at the CLAWAR 2008 conference. Robots are no longer confined to industrial manufacturing environments; rather, a great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high-profile international event, acts as a platform for dissemination of research and development findings to address the current interest

Contents:

Preface; Conference organisers; Conference committees; Conference sponsors and co-sponsors; CONTENTS; Section-I4: Modeling and Simulation of CLA WAR; Section-I: Plenary Presentations; Development of dance partner robot -PBDR- K. Kosuge; From micro to nano robotics B. Nelson; Adhesion techniques for climbing robots: State of the art and experimental considerations D. Longo and G. Muscato; 1. Introduction; 2. Classification of adhesion techniques by nature of forces; 2.1. Pneumatic adhesion; 2.2. Magnetic adhesion; 2.3. Mechanical adhesion; 2.4. Chemical adhesion; 2.5. Electrostatic adhesion

3. Classification on the basis of the need of energy4. Considerations concerning the locomotion methods; 5. Experimental considerations; 5.1. ROBINSPEC; 5.2. WALLY; 5.3. SURFY; 5.4. SCID; 5.5. ALICIA 1; 5.6. VENOM; 5.7. ALICIA 2; 5.8. SPIDERBOT 1; 5.9. ALICIA 3; 5.10. SPlDERBOT 2; 5.11. ALICIA VTX; 6. Conclusion; 7. Acknowledgments; References; Section-2: Autonomous Robots; Balance control of a TWRM with a static payload K. M. K. Goher and M. O. Tokhi; 1. Introduction; 1.1. Advantages of Two-Wheeled Mobile Robots; 2. Mathematical Modelling; 2.1. Effect of Changing the Payload Location

2.2. Energy Requirements3. Control Strategy; 4. Analysis and Simulation Results; 4.1. Effect of Different Disturbance Levels; 4.2. Effect of Disturbance Duration; 4.3. Effect of Payload Position; 4.4. System Energy requirements; 5. Conclusions; Acknowledgement; References; Balance control of a TWRM with a dynamic payload K. M. K. Goher and M. O. Tokhi; 1. Introduction; 1.1. Two- Wheeled Mobile Robots; 2. System Modelling and Description; 2.1. Payload Sliding Motion; 3. Control Strategy; 4. Analysis and Numerical Simulation; 4.1. Motion of the Payload and the COM

4.2. Ejfect of D{fferent Disturbance Levels4.3. Effect of Disturbance Duration; 4.4. Effect of Payload Speed; 5. Conclusions; References; A cooperative climbing robot for melt weld inspection on large structures 1. Shang, S. Monda I, A. A. Brenner, B. Bridge and T. Sattar; 1. Introduction of the Project; 2. Design of the NDT Robot; 2.1 Magnet adhesion; 2.2 Two section structure; 2.3 Prototype oj the robot; 3. Control of the Robot; 4. Cooperation of the Climbing Robots; 5. NDT Inspection; 6. Conclusion; Acknowledgements; References

Power analysis and structure optimization in the design of a humanoid robot L. Wang, M. Xie, Z. W. Zhong, M. Wang and L. Zhang1. Introduction; 2. Power Estimation in Robot's Walking; 2.1. Dual Pendulum Model; 2.2. Analysis of the Model in One Step; 3. Optimization; 4. Application in the Arrangement of Robot's Hip Yaw Movement; 5. Conclusion; References; Detection and clustering of the erroneous torques developed in the femur joint of a walking roboL A. Vitko, L. lurisica, M. Kl'uCik, R. Murar and F. Duchon; 1. Introduction; 2. Detection of the foot placing

3. Classification of sensed torques

Notes:

Description based upon print version of record.

Includes bibliographical references and index.

ISBN:

981-283-577-6