| Preface |
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v | |
| Conference organisers |
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| Conference committees and chairs |
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| Section-1: Plenary presentations |
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3 | (1) |
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Modelling and control of a biologically-inspired bat robot |
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4 | (1) |
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Roboethics: Focus on drones |
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5 | (1) |
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Kinematics that entails reconfigurable mechanisms |
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6 | (3) |
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| Section-2: Assistive robots |
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Validation of gait events detector using adaptive thresholds in humanoid robot |
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9 | (9) |
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A standing assistance for both voluntary movement and posture adjustment |
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18 | (8) |
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Adding push-off power to a robotic transtibial prosthesis with nonlinear damping behaviors |
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26 | (8) |
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A semi-automatic step climbing assist system for a wheelchair with an active-caster drive unit |
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34 | (11) |
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Assistive robotic walking devices: A state of the art review |
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45 | (10) |
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| Section-3: Biologically-inspired systems and solutions |
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Bio-inspired modelling and active control of the simulation of human walking dynamics |
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55 | (8) |
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Dynarobin - Compliant quadruped research platform for rugged terrain locomotion |
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63 | (8) |
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Compound foot for increased millirobot jumping ability |
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71 | (8) |
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Snail inspired climbing robot using fluid adhesion to travel on rough concrete walls and ceilings |
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79 | (9) |
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Development of a long-distance pressure feed pipe inspection robot based on peristaltic crawling of the earthworm |
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88 | (9) |
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Development of a flexible excavation unit for a peristaltic crawling seabed excavation robot |
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97 | (9) |
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Development of negative pressure suction mechanism in omnidirectional wall-climbing robot for inspection of airplanes |
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106 | (9) |
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Development of an automatic soil-releasing mechanism for a peristaltic-type lunar excavation robot |
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115 | (9) |
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Decreasing of negative work by elasticity of trunk joints of quadruped robot |
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124 | (11) |
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| Section-4: Co-operative robot systems |
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Designing modular series-elastic actuators for safe human-robot collaboration in industrial settings |
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135 | (8) |
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Preliminary development of test methods to evaluate lower body wearable robots for human performance augmentation |
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143 | (15) |
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Towards shop floor hardware reconfiguration for industrial collaborative robots |
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158 | (11) |
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A cyber-physical systems approach for controlling autonomous mobile manipulators |
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169 | (9) |
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Reactive motion planning for mobile continuum arm in dynamic industrial environment |
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178 | (8) |
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VALERI - A collaborative mobile manipulator for aerospace production |
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186 | (10) |
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Revisiting the end user's perspective in collaborative human-robot interaction |
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196 | (9) |
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Comparison of registration methods for mobile manipulators |
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205 | (12) |
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| Section-5: Field and underwater robotics |
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UAV/UGV cooperation to improve navigation capabilities of a mobile robot in unstructured environments |
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217 | (8) |
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Toward a multi-agent system for marine observation |
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225 | (8) |
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A review of weed detection and control robots: A world without weeds |
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233 | (8) |
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Some aspects of hydraulic drives for the new model MERO walking robot, applied in agriculture and forestry |
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241 | (9) |
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Versatile sensor and communication expansion set for the autonomous underwater vehicle MONSUN |
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250 | (8) |
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New small buoyancy control device with silicone rubber for underwater vehicles |
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258 | (11) |
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| Section-6: Innovative design of CLAWAR |
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Innovative design of a hexapod scorpion through digital production techniques |
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269 | (9) |
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Dynamics of vacuum contact devices of mobile climbing robots |
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278 | (9) |
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An L-shaped climbing robot with surface transition capability for confined-space welding |
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287 | (8) |
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Modular design of miniature mobile robots for motion over complex surfaces |
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295 | (9) |
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Cylindrical elastic crawler mechanism for pipe inspection |
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304 | (8) |
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Experimental evaluations of impact resistance of a biped robot composed of flexible struts |
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312 | (8) |
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Real-time SLAM from RGB-D data on a legged robot: An experimental study |
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320 | (11) |
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| Section-7: Innovative sensing and actuation systems |
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IMU-based kinematic chain pose estimation using Extended Kalman Filter |
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331 | (8) |
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Embedded, GPU-based omnidirectional vision for a walking robot |
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339 | (9) |
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Design and implementation of a wireless prodder for instructional purposes in landmine detection |
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348 | (8) |
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Radiation exposure assessment of a robot hand system |
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356 | (13) |
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| Section-8: Locomotion |
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Adaptive swing leg retraction control for robust dynamic locomotion under large terrain variations |
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369 | (9) |
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Probabilistic model for bipedal walking |
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378 | (8) |
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Walking robot "character" as element of intelligent system |
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386 | (9) |
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Foot contact estimation for legged robots in rough terrain |
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395 | (9) |
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RRT-based motion planner and balance controller for a biped robot |
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404 | (8) |
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Analyses of gait transition in quasi-passive dynamic walking locomotion |
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412 | (8) |
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Foot-eye calibration of legged robot kinematics |
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420 | (8) |
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Dynamically stepping over large obstacle utilizing PSO optimization in the B4LC system |
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428 | (9) |
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An adaptive approach to humanoid locomotion |
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437 | (8) |
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6-degree-of-freedom control for a body of a six-legged robot based on LQI control |
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445 | (9) |
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Rate-dependent gait dynamic stability analysis for motor control estimation |
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454 | (10) |
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Why off-the-shelf physics simulators fail in evaluating feedback controller performance - a case study for quadrupedal robots |
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464 | (9) |
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2D energy-efficient hopping robot |
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473 | (8) |
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Stiffness control of bionic joint for a musculoskeletal leg mechanism |
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481 | (9) |
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Stability investigation of a multilegged robot placed on rough surface in weightlessness |
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490 | (8) |
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Design of a compliant wheel-legged robot |
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498 | (8) |
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Mecanum-steering control for wheel-walking robot |
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506 | (8) |
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The effect of the left and right phase on the climbing ability of notched wheel |
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514 | (9) |
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A multi-DOF two-wheel inverted pendulum robot on the uneven terrain |
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523 | (8) |
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Locomotion mode transition study of ground hybrid robots |
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531 | (8) |
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Human gait control in single limb support using differential flatness |
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539 | (12) |
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| Section-9: Manipulation and gripping |
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Chaotic spiral dynamics optimization algorithm |
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551 | (8) |
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Non-parametric modelling of double-link flexible robot manipulator based on NNARX model structure |
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559 | (8) |
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Maximizing reachable workspace of radially symmetric hexapod walking manipulator |
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567 | (12) |
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| Section-10: Medical and rehabilitation robotics |
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Active capsule endoscope micro-robot with biopsy tools |
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579 | (9) |
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Fuzzy logic based pattern recognition for multifunctional upper limb prostheses |
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588 | (8) |
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Evolution of intelligent and nonlinear control approaches for FES induced movement generation of the lower limb |
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596 | (15) |
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| Section-11: Robot ethics |
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Robot ethical training with dynamic ethical preference logic |
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611 | (8) |
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Ethical standards for domestic robots |
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619 | (13) |
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Assistive robots and ethicals norms: State of the art survey |
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632 | (8) |
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Ethical concerns of surviving via and from robots: Cyborgs and expiry dates |
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640 | (6) |
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Making believe or just pretending: The problem of deception in children/robots interaction |
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646 | (6) |
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Designing a robotic interface for children: The MOnarCH robot example |
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652 | (11) |
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| Section-12: Robot modularity |
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ISO modularity for service robots |
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663 | (9) |
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Korean activity on software modularity for service robots |
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672 | (8) |
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Modularity standardization of service robots in China |
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680 | (8) |
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ModMan: Self-reconfigurable modular manipulation system for expansion of robot applicability |
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688 | (11) |
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| Section-13: Service and application specific robots |
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Design and kinematic modeling of a screw-propelled mobile robot to perform remote explosive scent tracing filter sampling in forest during humanitarian demining |
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699 | (17) |
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A cheap and effective climbing robot for automatic cleaning of arrays of photovoltaic solar panels |
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716 | (9) |
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Development of laser cutting head with wall climbing robot for nuclear decommissioning |
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725 | (8) |
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Marine boat roll damping control with mechanical gyroscope: An educational set-up |
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733 | (6) |
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Mobile microrobotics for space exploration: The state-of-the-art and prospects |
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739 | (8) |
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A qualitative approach for online activity recognition |
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747 | (10) |
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| Section-14: Soft robotic systems |
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Morphological computation - A potential solution for the control problem in soft robotics |
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757 | (8) |
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From octopus vulgaris to underwater hopping robots: Bio-inspired path toward design and control of soft robots |
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765 | (6) |
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Fractional order control of a soft robotic system |
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771 | (9) |
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Steps towards energy efficiency in elastically actuated robots |
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780 | (3) |
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Design and validation of a series rotary elastic actuator for humanoid robots |
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783 | (8) |
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Mechanism of multiple joint stiffness for the better performance and the safety physical interaction human-robot |
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791 | (6) |
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| Section-15: Wearable robots |
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Control system parameter optimization for lower limb exoskeleton with integrated elastic elements |
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797 | (9) |
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Robo-mate an exoskeleton for industrial use - concept and mechanical design |
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806 | (8) |
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Mechanical description of ATLAS 2020, A 10-DOF paediatric exoskeleton |
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814 | (9) |
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PD-fuzzy control of lower limb exoskeleton for elderly mobility |
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823 | (9) |
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Design and control of single leg exoskeleton for hemiplegia mobility |
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832 | (8) |
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Emerging directions in lower limb externally wearable robots for gait rehabilitation and augmentation - A review |
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840 | (11) |
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Modular EXO-LEGS for mobility of elderly persons |
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851 | (9) |
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Control architecture of the ATLAS 2020 lower-limb active orthosis |
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860 | (9) |
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| Author Index |
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869 | |
