Climbing and Walking Robots, Towards New Applications ISBN 978-3-902613-16-5 hard cover, 546 pages Edited by: Houxiang Zhang Publisher: I-Tech Education and Publishing, Vienna, Austria Publication date: October 2007 Price: 80 Euro incl. package & postage |Download the full text of this book|

About the Book With the advancement of technology, new exciting approaches enable us to render mobile robotic systems more versatile, robust and cost-efficient. Some researchers combine climbing and walking techniques with a modular approach, a reconfigurable approach, or a swarm approach to realize novel prototypes as flexible mobile robotic platforms featuring all necessary locomotion capabilities. The purpose of this book is to provide an overview of the latest wide-range achievements in climbing and walking robotic technology to researchers, scientists, and engineers throughout the world. Different aspects including control simulation, locomotion realization, methodology, and system integration are presented from the scientific and from the technical point of view. This book consists of two main parts, one dealing with walking robots, the second with climbing robots. The content is also grouped by theoretical research and applicative realization. Every chapter offers a considerable amount of interesting and useful information.

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Table of Contents

01Mechanics and Simulation of Six-Legged Walking Robots
Giorgio Figliolini and Pierluigi Rea

02Attitude and Steering Control of the Long Articulated Body Mobile Robot KORYU
Edwardo F. Fukushima and Shigeo Hirose

03Modular Walking Robots
Ion Ion, Ion Simionescu, Adrian Curaj and Alexandru Marin

04Non-time Reference Gait Planning and Stability Control for Bipedal Walking
Xianxin Ke, Jinwu Qian and Zhenbang Gong

05Design Methodology for Biped Robots: Applications in Robotics and Prosthetics
Maximo Roa, Diego Garzon and Ricardo Ramirez

06Amphibious NDT Robots
Tariq P. Sattar, Hernando E. Leon-Rodriguez and Jianzhong Shang

07Test Methods and Knowledge Representation for Urban Search and Rescue Robots
Craig Schlenoff, Elena Messina, Alan Lytle, Brian Weiss and Ann Virts

08Simplified Modelling of Legs Dynamics on Quadruped Robots' Force Control Approach
Jose L. Silvino, Peterson Resende, Luiz S. Martins-Filho and Tarcisio A. Pizziolo

09The Bio-Inspired SCORPION Robot: DesignControl & Lessons Learned
Spenneberg Dirk and Kirchner Frank

10A Climbing Robot for Cleaning Glass Surface with Motion Planning and Visual Sensing
Dong Sun, Jian Zhu and Shiu Kit Tso

11Ball-shaped Robots
Tomi Ylikorpi and Jussi Suomela

12Complex and Flexible Robot Motions by Strand-Muscle Actuators
Masakazu Suzuki

13Dynamic Walk of Humanoids: Momentum Compensation based on the Optimal Pelvic Rotation
Hiroshi Takemura, Akihiro Matsuyama, Jun Ueda, Yoshio Matsumoto, Hiroshi Mizoguchi and Tsukasa Ogasawara

14Attitude Control of a Six-legged Robot in Consideration of Actuator Dynamics by Optimal Servo Control System
H. Uchida and K. Nonami

15A 4WD Omnidirectional Mobile Platform and its Application to Wheelchairs
Masayoshi Wada

16Evolution of Biped Locomotion Using Linear Genetic Programming
Krister Wolff and Mattias Wahde

17Optimal Design of a New Wheeled Mobile Robot by Kinetic Analysis for the Stair-Climbing States
Chun-Kyu Woo, Hyun Do Choi, Mun Sang Kim, Soo Hyun Kim and Yoon Keun Kwak

18City-Climber: A New GenerationWall-climbing Robots
Jizhong Xiao and Ali Sadegh

19Connected Crawler Robot -Design and Motion Planning for Climbing a Step
Sho Yokota

20A PAWL for Enhancing Strength and Endurance during Walking Using Interaction Force and Dynamical Information
Feng Chen, Yong Yu, Yunjian Ge, Jian Sun and Xiaohong Deng

21Worm-like Locomotion Systems (WLLS) - Theory, Control and Prototypes
Klaus Zimmermann, Igor Zeidis, Joachim Steigenberger, Carsten Behn, Valter Boehm, Jana Popp, Emil Kolev and Vera A. Naletova