Keywords
Citation
(2004), "Climbing and Walking Robots and the Supporting Technologies for Mobile Machines (CLAWAR 2003)", Industrial Robot, Vol. 31 No. 2. https://doi.org/10.1108/ir.2004.04931bae.001
Publisher
:Emerald Group Publishing Limited
Copyright © 2004, Emerald Group Publishing Limited
Climbing and Walking Robots and the Supporting Technologies for Mobile Machines (CLAWAR 2003)
Climbing and Walking Robots and the Supporting Technologies for Mobile Machines (CLAWAR 2003)
G. Muscato and D. LongoProfessional Engineering Publishing20021075 pp.ISBN 1-860-58409-8£450.00 Hardcover
Keywords: Climbing, Walking, Robots
This book presents over 100 papers from the 6th International Conference on Climbing and Walking Robots (CLAWAR). The conference brings together academics, researchers and industrialists, enabling the latest developments in this interdisciplinary field to be reported.
Section 1, Biologically Inspired Systems, presents six papers addressing topics including “Foot placement selection using non-geometric visual properties”, “On artificial worms as chain of mass points”, “A tele-operated walking hexapod controlled by a CNN-based CPG” and “Distributed control of mobile robots – a biomimic approach”.
“An optimised design for an intelligent walking-aid”, “Aspects of designs of hip endoprostheses using biped robot kinematics” and “An engineering specification for a bio- robotic walking orthosis” are amongst the papers presented in section 2, Medical Systems. Section 3 addresses the Control of CLAWAR and includes papers discussing “Attitude control of six-legged robot using sliding mode control”, “Control algorithm for stable walking of biped robots” and “Cascade control of a hexapod robot”.
The following two sections include 18 papers addressing Design Methodology, and System Modelling and Simulation, while section 6, Modularity and Systems Architecture includes papers discussing “A control architecture for humanitarian-demining legged robots”, “Design of open-architecture control systems of biped walking robot” and “Software modularity for mobile robotic applications”.
Gait Generation and Stability of CLAWAR, Biped Locomotion, and Multi-Legged Locomotion are addressed in the following three sections. Section 10, Micro Machines, presents five papers including “Controlling cm3 sized autonomous micro robots operating in the micro and nano world”, “Fundamentals of high-speed, piezo-actuated, three legged motion for miniature robots designed for nanometer- scale operations” and “Modular design of electro-magnetic mechatronic microrobots”.
“Cost-effective robots for mine detection in thick vegetation”, “High utility robotics in urban combat operations” and “Kinematics systems for inspecting and cleaning of sewer canals” are amongst the 11 papers discussing applications for CLAWAR, whereas section 12 discusses Climbing Robots. Papers presented include “A mobile climbing robot for high- precision manufacture and inspection of aero- structures”, “Concept of a low-cost, window- cleaning robot” and “System identification and control of the climbing robot ROMA II”.
Section 13 presents 23 papers addressing Actuators, Sensors, Navigation and Sensor Fusion. Amongst these are “Actuator with properties of a stepper motor”, “Roles of force sensors in hexapod locomotion” and “Relative estimation in a group of robots”. The final section of the book discusses CLAWAR Network Workpackages.
Overall, this immense volume is an essential reference text for anyone interested in or involved with climbing and walking robots.