Climbing and Walking Robots

Climbing and Walking Robots
Edited by
Behnam Miripour
Contents
Preface V
1. A Survey of Technologies and Applications for Climbing Robots Locomotion
and Adhesion 001
Manuel F. Silva and J. A. Tenreiro Machado
2. Mechanical Synthesis for Easy and Fast Operation in Climbing and Walking Robots 023
Antonio Gonzalez-Rodriguez, Angel G. Gonzalez-Rodriguez and Rafael Morales
3. A Wheel-based Stair-climbing Robot with a Hopping Mechanism 043
Koki Kikuchi, Naoki Bushida, Keisuke Sakaguchi, Yasuhiro Chiba, Hiroshi Otsuka,
Yusuke Saito, Masamitsu Hirano and Shunya Kobayashi
4. Motion Control of a Four-wheel-drive Omnidirectional Wheelchair with
High Step Climbing Capability 057
Masayoshi Wada
5. Stair Climbing Robots and High-grip Crawler 073
Kan Yoneda, Yusuke Ota and Shigeo Hirose
6. A Climbing-Flying Robot for Power Line Inspection 095
Jaka Katrašnik, Franjo Pernuš and Boštjan Likar
7. A Fuzzy Control Based Stair-Climbing Service Robot 111
Ming-Shyan Wang
8. Evolutionary Multi-Objective Optimization for Biped Walking of Humanoid Robot 127
Toshihiko Yanase and Hitoshi Iba
9. On Adjustable Stiffness Artificial Tendons in Bipedal Walking Energetics 141
Reza Ghorbani and Qiong Wu
10. Mathematical Modelling and Simulation of Combined Trajectory Paths of a
Seven Link Biped Robot 165
Ahmad Bagheri, Behnam Miripour-Fard and Peiman Naseradin Mousavi
11. Bipedal Walking Control based on the Assumption of the Point-contact:
Sagittal Motion Control and Stabilization 185
Tadayoshi Aoyama, Kosuke Sekiyama, Yasuhisa Hasegawa and Toshio FukudaVIII
12. Simulated Regulator to Synthesize ZMP Manipulation and Foot Location for
Autonomous Control of Biped Robots 201
Tomomichi Sugihara
13. Nonlinear ¥ Control Applied to Biped Robots 213
Adriano A. G. Siqueira, Marco H. Terra and Leonardo Tubota
14. Method to Estimate the Basin of Attraction and Speed Switch Control for the
Underactuated Biped Robot 233
Yantao Tian, Limei Liu, Xiaoliang Huang, Jianfei Li and Zhen Sui
15. Zappa, a Compliant Quasi-Passive Biped Robot with a Tail and Elastic Knees 253
Félix Monasterio-Huelin, Álvaro Gutiérrez and Fernando J. Berenguer
16. Quadrupedal Gait Generation Based on Human Feeling for Animal Type Robot 265
Hidekazu Suzuki and Hitoshi Nishi
17. Gait Based Directional Bias Detection of Four-Legged Walking Robots 277
Wei-Chung Teng and Ding-Jie Huang
18. Locomotion analysis of hexapod robot 291
Xilun Ding, Zhiying Wang, Alberto Rovetta and J.M. Zhu
19. In situ self-reconfiguration of hexapod robot OSCAR using biologically inspired
approaches 311
Bojan Jakimovski and Erik Maehle
20. Softly Stable Walk Using Phased Compliance Control with Virtual Force for
Multi-Legged Walking Robot 333
Qingjiu Huang
21. Biohybrid Walking Microrobot with Self-assembled Cardiomyocytes 351
Jinseok Kim, Eui-Sung Yoon and Sukho Park
22. Theoretical and Experimental Study for Queueing System with Walking Distance 371
Daichi Yanagisawa, Yushi Suma, Akiyasu Tomoeda, Ayako Kimura, Kazumichi Ohtsuka
and Katsuhiro Nishinari
23. Intention-Based Walking Support for Paraplegia Patients with Robot Suit HAL 383
Kenta Suzuki, Gouji Mito, Hiroaki Kawamoto, Yasuhisa Hasegawa and Yoshiyuki Sankai
24. Development of Vision Based Person Following Module for Mobile Robots in
RT-Middleware 409
Hiroshi Takemura, Zentaro Nemote, Keita Ito and Hiroshi Mizoguchi
25. A-B Autonomy of A Shape-shifting Robot “AMOEBA-I” for USAR 425
Yuechao Wang, Jinguo Liu and Bin Li
26. The Rh-1 full-size humanoid robot: Control system design and Walking
pattern generation 445
Mario Arbulú, Dmitry Kaynov and Carlos Balaguer
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