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This book presents the proceedings of 24th International Conference
Series on Climbing and Walking Robots. CLAWAR 2021 is the
twenty-fourth edition of International Conference series on
Climbing and Walking Robots and the Support Technologies for Mobile
Machines. The conference is organized by CLAWAR Association in
collaboration with Kwansei Gakuin University on a virtual platform
in Takarazuka, Japan, during 30 August-01 September 2021. CLAWAR
2021 brings new developments and new research findings in robotics
technologies within the framework of "Robotics for Sustainable
Future". The topics covered include biped locomotion,
human-machine/human-robot interaction, innovative actuators, power
supplies and design of CLAWAR, inspection, legged locomotion,
modelling and simulation of CLAWAR, outdoor and field robotics,
planning and control, and wearable devices and assistive robotics.
The intended readership includes participants of CLAWAR 2021
conference, international robotic researchers, scientists,
professors of related topics worldwide, and professors and students
of postgraduate courses in Robotics and Automation, Control
Engineering, Mechanical Engineering, and Mechatronics.
This book is a practical guide about designing, building and
programming modern robotics systems. It presents a collection of
wide range research results from the robotics community. Various
aspects of current research in robotics area are explored and
discussed. In particular, the major part of the book is devoted to
robotic vision systems, robot navigation, human-robot interactions
and adaptive learning systems. Different approaches including
theorems and formal proofs for these systems are provided. Some
advanced mathematics will be involved. There are totally 15
chapters in this book.Chapter 1 analyzes and compares two robotics
frameworks based on the identified requirements, and discusses the
benefits and drawbacks of using robotics frameworks. Chapter 2
shows how mechatronics and robotics are fused with objects of daily
life to become assistive systems, and thus become an integral part
of our built environment. Chapter 3 describes a new framework for
solving robotic navigation problems in a continuous environment.
The framework balances between exploration and exploitation, and
integrates global planning algorithms, local navigation routines,
and exploration procedures in order to achieve the global goal.
Chapter 4 addresses the Coverage Path Planning (CPP) problem
applied to aerial robots whose mission is to visual cover a
determinate wide area. Chapter 5 proposes a planning method to
unravel deformable linear objects based on their silhouette, which
corresponds to imperfect state information. Chapter 6 proposes a
design method for the wheeled vehicle with the passive linkage
mechanism for increasing step-climbing performance. Chapter 7
proposes an algorithm for identifying structural motifs. Chapter 8
discusses how we can use Reinforcement Learning to learn how to
move a group of servos in order to achieve a motion behavior.
Chapter 9 reviews the most widely adopted calibration procedures
for industrial robots. In Chapter 10, the complete mathematical
model of a highly complex and rigid-flexible coupling mechanical
system is deduced, using the classical approach of Newton-Euler
Method. Chapter 11 presents computationally efficient algorithms
for the calculation of the Jacobian and direct dynamics of elastic
parallel manipulators. Chapter 12 proposed a PDE based approach for
grayscale image restoration. Chapter 13 presents development and
research applying new approaches and means for the design of a
Modular multi-Applicable Neural Network (MANN) classification
structure with Programmable Logic Controllers (PLC) for industrial
implementation. Chapter 14 proposes a framework for on-line novelty
detection using artificial vision as main sensory input in
autonomous mobile robots. Finally, chapter 15 discusses the
difficulties of control system design and implement, as well as
proposes a framework for tackling controller design under the
context of lacking reliable information. This book is suitable for
advanced undergraduate students and postgraduate students. It takes
a practical approach rather than a conceptual approach. It offers a
truly reader-friendly way to get to the subject related to the
semantic web, making it the ideal resources for any student who is
new to this subject and providing a definitive guide to anyone in
this vibrant and evolving discipline. This book is an invaluable
companion for students from their first encounter with the subject
to more advanced studies, while the full-color artworks are
designed to present the key concepts with simplicity, clarity and
consistency.
Introduction to Modern Robotics provides a practical guide about
designing, building and programming a modern robotics system. It
presents a collection of wide range research results from the
robotics community. Chapter 1 presents the development of a
connected crawler robot for rough terrain. It specifically focuses
on the number of crawler stages should be connected. Chapter 2
shows the design and development process of a humanoid robotic
platform that combines power efficiency with flexible and robust
motion (such as balancing the need for human-like walking
capabilities) without complex computation. Chapter 3 proposes a
developmental model for the acquisition of motion in an infant
robot by using oscillators. Chapter 4 presents an innovative
concept of artificial communication partners with a multi-agent
mind model in order for realization of intuitive human-robot
interaction. Chapter 5 describes an approach for a robot to
self-recognize his/her image on a mirror, an important milestone
towards implementing theory of mind on a humanoid robot. Chapter 6
outlines relationships between robotics and software engineering,
motivates and illustrates the link between component based software
engineering and a service-oriented robotic component model. Chapter
7 explores both the management and the technical aspect of a modern
robotic team in the platform of a robot cup competition. Chapter 8
focuses on the methods for evolving a cooperative team for a
minimal soccer game by conducting a comparative evaluation of 18
methods, and shows that there are complex correlations among design
decisions. Chapter 9 introduces a new coordinative control system
for multi-robot system through network software platform. Chapter
10 studies Social Odometry, a new approach to multi-robot
localization based on local communication, which confers the robots
the possibility to learn from each other. Chapter 11 concerns with
the motion coordination of a multi-robot system over a planar
cluttered space. Chapter 12 introduces evolutionary-based design of
controllers for continuous-time processes, drives and robots.
Chapter 13 shows how GA can be used to solve the interception and
rendezvous problems without placing a restriction on the chasers
speed, which is contradictory to the line-of-sight approach where
the speed of the chaser must always be greater than the speed of
the target. Chapter 14 explores and extends the application of
simulation technique as a proactive risk management tool in
infrastructure planning, design and optimisation. Chapter 15
describes a system exploiting complementary data for mined area
reduction. It highlights the importance of adapted modeling and of
information fusion, and proposes efficient methods based on belief
function and fuzzy sets theories. Chapter 16 shows how the warning
signals generated using the AR approach reveal the same or better
effectiveness as standard visual signals coming from an industrial
signaling device that is of commonly used in machinery. Chapter 17
proposes to combine sensory information from infrared and sonar
sensors to improve obstacle-avoidance in a Khepera robot. This book
is suitable for advanced undergraduate students and postgraduate
students. It takes a practical approach rather than a conceptual
approach. It offers a truly reader-friendly way to get to the
subject related to the semantic web, making it the ideal resources
for any student who is new to this subject and providing a
definitive guide to anyone in this vibrant and evolving discipline.
This book is an invaluable companion for students from their first
encounter with the subject to more advanced studies, while the
full-color artworks are designed to present the key concepts with
simplicity, clarity and consistency.
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