Bioinspiration and Robotics, Walking and Climbing Robots ISBN 978-3-902613-15-8 hard cover, 544 pages Edited by: Maki K. Habib Publisher: I-Tech Education and Publishing, Vienna, Austria Publication date: September 2007 Price: 80 Euro incl. package & postage |Download the full text of this book|

About the Book Nature has always been a source of inspiration and ideas for the robotics community. New solutions and technologies are required and hence this book is coming out to address and deal with the main challenges facing walking and climbing robots, and contributes with innovative solutions, designs, technologies and techniques. This book reports on the state of the art research and development findings and results. The content of the book has been structured into 5 technical research sections with total of 30 chapters written by well recognized researchers worldwide.

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Table of Contents

Legged Robots: Dynamics, Motion Control and Navigation

01Parametrically Excited Dynamic Bipedal Walking
Fumihiko Asano and Zhi-Wei Luo

02Locomotion of an Underactuated Biped Robot Using a Tail
Fernando Juan Berenguer and Felix Monasterio-Huelin

03Reduced DOF Type Walking Robot Based on Closed Link Mechanism
Katsuhiko Inagaki

04Posture and Vibration Control Based on Virtual Suspension Model for Multi-Legged Walking Robot
Qingjiu Huang

05Research on Hexapod Walking Bio-robot's Workspace and Flexibility
Baoling Han, Qingsheng Luo, Xiaochuan Zhao and Qiuli Wang

06A Designing Method of the Passive Dynamic Walking Robot via Analogy with Phase Locked Loop Circuits
Masatsugu Iribe and Koichi Osuka

07Theoretical Investigations of the Control Movement of the CLAWAR at Statically Unstable Regimes
Alexander Gorobtsov

08Selection of Obstacle Avoidance Behaviors based on Visual and Ultrasonic Sensors for Quadruped Robots
Kiyotaka Izumi, Ryoichi Sato, Keigo Watanabe and Maki K. Habib

Wall and Pipes Climbing Robots

09Climbing Service Robots for Improving Safety in Building Maintenance Industry
Bing L. Luk, Louis K. P. Liu and Arthur A. Collie

10Gait Programming for Multi-Legged Robot Climbing on Walls and Ceilings
Jinwu Qian, Zhen Zhang and Li Ma

11Armless Climbing and Walking in Robotics
Maki K. Rashid

12A Reference Control Architecture for Service Robots as applied to a Climbing Vehicle
Francisco Ortiz, Diego Alonso, Juan Pastor, Barbara Alvarez and Andres Iborra

13Climbing with Parallel Robots
R. Saltaren, R. Aracil, O. Reinoso and E. Yime

Biologically Inspired Robots and Techniques

14Gait Synthesis in Legged Robot Locomotion using a CPG-Based Model
J. Cappelletto, P. Estevez, J. C. Grieco, W. Medina-Melendez and G. Fernandez-Lopez

15Basic Concepts of the Control and Learning Mechanism of Locomotion by the Central Pattern Generator
Jun Nishii and Tomoko Hioki

16Space Exploration - Towards Bio-Inspired Climbing Robots
Carlo Menon, Michael Murphy, Metin Sitti and Nicholas Lan

17Biologically Inspired Robots
Fred Delcomyn

18Study on Locomotion of a Crawling Robot for Adaptation to the Environment
Li Chen, Yuechao Wang, Bin Li, Shugen Ma and Dengping Duan

19Multiple Sensor Fusion and Motion Control of Snake Robot Based on Soft-computing
Woo-Kyung Choi, Seong-Joo Kim and Hong-Tae Jeon

20Evolutionary Strategies Combined With Novel Binary Hill Climbing Used for Online Walking Pattern Generation in Two Legged Robot
Lena Mariann Garder and Mats Hovin

Modular and Reconfigurable Robots

21A Multitasking Surface Exploration Rover System
Antonios K. Bouloubasis and Gerard T. McKee

22Collective Displacement of Modular Robots using Self-Reconfiguration
Carrillo Elian and Dominique Duhaut

23In-pipe Robot with Active Steering Capability for Moving Inside of Pipelines
Hyouk Ryeol Choi and Se-gon Roh

24Locomotion Principles of 1D Topology Pitch and Pitch-Yaw-Connecting Modular Robots
Juan Gonzalez-Gomez, Houxiang Zhang and Eduardo Boemo

Step Climbing and Innovative Robotics Technology

25Mechanical Design of Step-Climbing Vehicle with Passive Linkages
Daisuke Chugo, Kuniaki Kawabata, Hayato Kaetsu, Hajime Asama and Taketoshi Mishima

26Climbing Robots
Majid M. Moghadam and Mojtaba Ahmadi

27Mechanical and Kinematics Design Methodology of a New Wheelchair with Additional Capabilities
R. Morales, A. Gonzalez and V. Feliu

28Pneumatic Actuators for Climbing, Walking and Serpentine Robots
Grzegorz Granosik

29Omnidirectional Mobile Robot - Design and Implementation
Ioan Doroftei, Victor Grosu and Veaceslav Spinu

30On the Use of a Hexapod Table to Improve Tumour Targeting in Radiation Therapy
Juergen Meyer, Matthias Guckenberger, Juergen Wilbert and Kurt Baier