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.