| Preface |
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| Conference organisers |
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| Conference committees and chairs |
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| Conference sponsors and co-sponsors |
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xiii | |
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Section-1 Plenary presentations |
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TIRAMISU: FP7-Project for an integrated toolbox in humanitarian demining, focus on UGV, UAV, technical survey and close-in-detection |
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3 | (3) |
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Anthropomorphic biological equipment |
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6 | (1) |
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Muscle coordination of human locomotion |
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7 | (1) |
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Exoskeleton systems for medical and civilian applications |
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8 | (3) |
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Section-2 Assistive robotics |
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Optimization-based gait planning for wearable power-assist locomotor by specifying via-points |
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11 | (8) |
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The designing of the exoskeleton leg with pneumatic drives |
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19 | (8) |
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Motion control algorithms for the exoskeleton equipped with pneumatic drives |
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27 | (8) |
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Development of a lower extremity exoskeleton system for walking assistance while load carrying |
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35 | (8) |
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Dynamic coupling characteristics of a semi-active knee prosthesis |
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43 | (8) |
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Covered area detection based on brightness change of inner camera images for crawler robot |
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51 | (8) |
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Actuator with adjustable-rigidity and embedded sensor for an active orthosis knee joint |
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59 | (9) |
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A personal robot integrating a physically-based human motion tracking and analysis |
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68 | (9) |
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Humanoid robot programming through face expressions |
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77 | (8) |
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Dynamics of human lower limbs using CGA data and BSIP predictive equations |
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85 | (8) |
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Variable impedance control of a parallel robot for ankle rehabilitation |
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93 | (8) |
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A mobile 3D vision-based embedded system for robust estimation and analysis of human locomotion |
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101 | (8) |
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A simple load estimation of a patient during a standing assistance motion |
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109 | (8) |
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Exoskeleton for assisting human walking |
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117 | (8) |
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Hopping machine: A tool for human running simulation and for legged robots and exoskeleton design |
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125 | (8) |
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Design of a reconfigurable wheelchair with a sit-to-stand facility for a disabled kid |
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133 | (8) |
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Integrated design, modelling and analysis of two-wheeled wheelchair for disabled |
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141 | (12) |
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A comparison of a passive and variable-damping controlled leg prosthesis in a simulated environment |
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153 | (10) |
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Section-3 Autonomous robots |
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DODEKAPOD as universal intelligent structure for adaptive parallel spatial self-moving modular robots |
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163 | (8) |
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Aquatic multi-robot system for lake cleaning |
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171 | (8) |
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Hybrid spiral dynamic bacterial chemotaxis optimisation for hybrid fuzzy logic control of a novel two wheeled robotic vehicle |
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179 | (10) |
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BFA optimisation of control parameters of a new structure two wheeled robot on inclined surface |
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189 | (10) |
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Section-4 Biologically-inspired systems and solutions |
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Compliant backbone in mobile robots |
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199 | (8) |
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Development of two types of maintenance robots for a jacket inside a mixing tank |
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207 | (8) |
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Adaptive control of leg position for hexapod robot based on somatosensory feedback and organic computing principles |
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215 | (8) |
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Implementation of an adjustable compliant knee joint in a lower-limb exoskeleton |
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223 | (9) |
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New propulsion system with pneumatic artificial muscles |
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232 | (9) |
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Development of a wall climbing robot using the mobile mechanism of traveling waves propagation |
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241 | (8) |
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Bio-inspired elbow impedance modulation using a compliant technical joint drive |
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249 | (8) |
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A resilient robotic actuator based on an integrated sensorized elastomer coupling |
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257 | (8) |
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Derivation of mathematical models of the peristaltic crawling robot for maintenance of a mixing tank |
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265 | (8) |
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Improvement of energy consumption by movement of center of rotation of joint |
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273 | (8) |
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A simplified variable admittance controller based on a virtual agonist-antagonist mechanism for robot joint control |
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281 | (10) |
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Section-5 HMI, inspection and learning |
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Determination of trajectories using non-invasive BCI techniques in 3D environments |
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291 | (10) |
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Development of a peristaltic crawling inspection robot with pneumatic artificial muscles for a 25A elbow pipe |
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301 | (8) |
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Examination of surface feature analysis and terrain traversability for a wall-climbing robot |
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309 | (8) |
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Development of humanoid robot teaching system based on a RGB-D sensor |
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317 | (10) |
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Section-6 Innovative design of CLAWAR |
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Development of worm-rack driven cylindrical crawler unit |
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327 | (8) |
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Unconventional five-legged robot for agile locomotion |
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335 | (8) |
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Climbing robot equipped with a postural adjustment mechanism for conical poles |
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343 | (8) |
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Caminante: A platform for sensitive walking |
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351 | (8) |
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Layered body for flexible mono-tread mobile track |
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359 | (8) |
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Surface adaptation robot for defect detection by performing continuously an ultrasound wheel probe |
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367 | (8) |
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Optimal design of a magnetic adhesion system for climbing robots |
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375 | (8) |
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Compliant foot system design for bipedal robot walking over uneven terrain |
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383 | (9) |
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New design of peristaltic crawling robot with an earthworm muscular structure |
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392 | (7) |
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HEX-PIDERIX: A six-legged walking climbing robot to perform inspection tasks on vertical surfaces |
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399 | (12) |
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Reinforcement learning of bipedal lateral behaviour and stability control with ankle-roll activation |
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411 | (8) |
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Obstacle/gap detection and terrain classification of walking robots based on a 2D laser range finder |
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419 | (8) |
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Motion control for the 6-legged robot in extreme conditions |
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427 | (8) |
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Development of hexapod robot supported mechanically using pneumatic rubber artificial muscles |
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435 | (8) |
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Local reflex generation for obstacle negotiation in quadrupedal locomotion |
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443 | (8) |
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Event driven ground-impedance identification for legged robots |
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451 | (8) |
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The Turtle, a legged submerged inspection vehicle |
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459 | (4) |
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An actuated continuous spring loaded inverted pendulum (SLIP) model for the analysis of bouncing gaits |
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463 | (8) |
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Design and prototyping of active-suspension-based 4-legged running robot with anteroposterior asymmetry in body |
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471 | (8) |
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Design of leaping behavior in a planar model with three compliant and rolling legs |
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479 | (8) |
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Walking despite the passive compliance: Techniques for using conventional pattern generators to control intrinsically compliant humanoid robots |
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487 | (8) |
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A behavior-based library for locomotion control of kinematically complex robots |
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495 | (8) |
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Effects of neck swing motion on the body posture of a four-legged robot |
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503 | (8) |
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Actuator sizing for highly-dynamic quadruped robots based on squat jumps and running trots |
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511 | (8) |
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Previewed impedance adaptation to coordinate upper-limb trajectory tracking and postural balance in disturbed conditions |
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519 | (10) |
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A hip joint structure for biped robot with reduced DoF's of motion |
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529 | (8) |
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Exploring the Lombard paradoxon in a bipedal musculoskeletal robot |
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537 | (10) |
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An automated system for systematic testing of locomotion on heterogeneous granular media |
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547 | (8) |
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Inverse dynamics for a quadruped robot locomoting along slippery surfaces |
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555 | (8) |
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LAURON V: Optimized leg configuration for the design of a bio-inspired walking robot |
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563 | (8) |
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Shuffle turn of humanoid robot simulation based on EMG measurement |
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571 | (7) |
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Studies of total adhesive force of multiple magnetic wheels for a climbing robot |
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578 | (7) |
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Quantitative kinematic performance comparison of reconfigurable leg-wheeled vehicles |
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585 | (8) |
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Enhancing personal electric vehicles using reconfigurable design |
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593 | (6) |
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Hand-manoeuvred wheelchair using wheels fitted with feet for enhanced mobility |
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599 | (10) |
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Design and locomotion modes of a small wheel-legged robot |
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609 | (8) |
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Compliance contact control of Mecanum wheeled mobile robot for improving safety |
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617 | (8) |
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Neural control of a three-legged reconfigurable robot with omnidirectional wheels |
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625 | (8) |
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The passive dynamics of walking and brachiating robots: Results on the topology and stability of passive gaits |
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633 | (10) |
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Section-8 Manipulation and gripping |
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Modeling and analysis of robotic grasping using soft fingertips |
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643 | (8) |
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Force sensing and control during movement and object manipulation in MERO walking robots |
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651 | (8) |
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Object grasping with dual robot manipulator using genetic algorithms |
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659 | (8) |
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A novel hybrid spiral-dynamics random-chemotaxis optimization algorithm with application to modelling of a flexible robot manipulator |
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667 | (10) |
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Section-9 Modelling and simulation of CLAWAR |
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Modelling of movement of the three-link robot with operated friction forces on the horizontal surface |
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677 | (8) |
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Transition analysis of a biped pole-climbing robot - Climbot |
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685 | (8) |
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Design of SMA based actuators used in robotics |
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693 | (8) |
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Finite element modelling of the adhesion system of a vortex based climbing robot |
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701 | (8) |
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Development of a quadruped robot model in Simmechanics™ |
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709 | (10) |
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Section-10 Planning and control |
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Model-based elastic tendon control for electrically actuated musculoskeletal bipeds |
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719 | (10) |
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Velocity control of serial elastic actuator based on EKF estimator and neural network |
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729 | (11) |
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Low-dimensional user control of autonomously planned whole-body humanoid locomotion motion towards brain-computer interface applications |
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740 | (9) |
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State to state motion planning for underactuated systems using a modified rapidly exploring random tree algorithm |
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749 | (12) |
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Biped walking over rough terrain by adaptive ground reference map |
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761 | (12) |
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Section-11 Positioning, localization and perception |
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Method for estimating location and yaw angle of a six-legged robot for omni-directional walking control |
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773 | (8) |
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Cooperative multi-robot localization with radio-based sensors |
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781 | (8) |
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Efficiently using RGB-D data to self-localize a small walking robot in man-made environments |
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789 | (8) |
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Recognition of 3D objects for walking robot equipped with Multisense-SL sensor head |
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797 | (10) |
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Section-12 Sensing and sensor fusion |
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Human motion localization and interaction based on wearable inertial and contact sensors |
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807 | (8) |
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Real-time detection of the activity of a dog |
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815 | (7) |
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Estimation of the trunk attitude of a humanoid by data fusion of inertial sensors and joint encoders |
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822 | (11) |
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Section-13 Service robot standards and standardization |
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Challenges of the changing robot markets |
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833 | (8) |
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OFEX 2.0: Database for performance evaluation of object feature extraction algorithms |
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841 | (8) |
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Ethical assessment of robots |
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849 | (8) |
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| Author index |
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857 | |
