Field robotics : proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, University Pierre et Marie Curie (UPMC), Paris, France, 6-8 September 2011 /
This book provides state of the art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2011 conference. A great deal of interest is vested in the use of rob...
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| Format: | Electronic Conference Proceeding eBook |
| Language: | English |
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Hackensack, N.J. :
World Scientific,
©2012.
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| Online Access: | CONNECT |
Table of Contents:
- Preface; Conference organisers; Conference committees; CONTENTS; Table of contents; Section-1: Assistive Robots; Human interface of a wearable robot for walking on a step T. Kagawa, Y. Oda and Y. Uno; 1. Introduction; 2. Sensing and control systems for walking on a step; 2.1. Wearable robot and human interface; 2.2. Sensing of a step; 2.3. Gait pattern generation for climbing and stepping down; 3. Experiment; 4. Conclusion; References.
- Interactive person following for social robots: hybrid reasoning based on fuzzy and multiple- objectives decision making approaches C. Granata, P. Bidaud and A. Buendia1. Introduction; 2. Methodology; 2.1. The Fuzzy Inference System; 2.2. Strategy controller; 2.2.1. GoToUser; 2.2.2. GlobalSearch; 2.2.3. LocalSearch; 2.3. Multiple-Objective Decision Making; 2.4. Objectives; 2.4.1. Turn; 2.4.2. GoForward; 2.4.3. PathFollow; 2.4.4. Combination of Multiple-Objectives; 2.5. Spirops AI; 3. Robot test bed and simulation environment; 4. Experiments I; 4.1. Exiting through the door.
- 4.2. Turning around the table5. Experiments II; 5.1. Predictive models; 5.1.1. Prediction of user position; 5.1.2. Prediction of robot position; 5.2. Exiting through the door; 5.3. Turning around the table; 5.4. Anticipation; 6. Conclusion and perspectives; 7. Acknowledgements; References; Development of a passive-type robotic wheelchair D. Chugo, T. Higuchi, Y. Sakaida, S. Yokota and K. Takase; 1. Introduction; 2. System Configuration; 2.1. Assistance Mechanism; 2.2. Kinematics; 2.3. Control Algorithm; 3. Experiments; 4. Conclusion; Acknowledgments; References.
- Design of an efficient back-drivable semi-active above knee prosthesis M. Awad, K.S. Tee, A. Dehghani, D. Moser and S. Zahedi1. Introduction; 2. Mechanism Design Synthesis and Analysis; 2.1. Mechanism Selection; 2.2. Mechanism Analysis; 3. Dynamic Coupling Model; 4. A Back-Drivable Semi-Active Knee Prosthesis Mechanical Design; 4.1. Design Considerations and Specifications; 4.2. Mechanical Design; 5. Conclusions; Acknowledgments; Appendix; References; Section-2: Autonomous Robots.
- Myon: Concepts and design of a modular humanoid robot which can be reassembled during runtime M. Hild, T. Siedel, C. Benckendorff, M. Kubisch and C. Thiele1. Introduction and Design Concepts; 2. Overall Properties; 3. System Architecture; 4. Runtime Modularity; 5. Power Autonomy; 6. Antagonistic Actuation; 7. Summary; Bibliography; Design and real-time PID control approach of a two-wheeled vehicle with an extended rod A.C. Rosendo, S.A. Agouri, M.O. Tokhi and K.M. Goher; 1. Introduction; 2. Development of the Real Prototype; 3. Control Strategy; 4. Simulation Results; 5. Conclusions.
