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E-raamat: Robotics for Sustainable Future: CLAWAR 2021

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This book presents the proceedings of 24th International Conference Series on Climbing and Walking Robots. CLAWAR 2021 is the twenty-fourth edition of International Conference series on Climbing and Walking Robots and the Support Technologies for Mobile Machines. The conference is organized by CLAWAR Association in collaboration with Kwansei Gakuin University on a virtual platform in Takarazuka, Japan, during 30 August–01 September 2021.

CLAWAR 2021 brings new developments and new research findings in robotics technologies within the framework of “Robotics for Sustainable Future”. The topics covered include biped locomotion, human–machine/human–robot interaction, innovative actuators, power supplies and design of CLAWAR, inspection, legged locomotion, modelling and simulation of CLAWAR, outdoor and field robotics, planning and control, and wearable devices and assistive robotics.

The intended readership includes participants of CLAWAR 2021 conference, international robotic researchers, scientists, professors of related topics worldwide, and professors and students of postgraduate courses in Robotics and Automation, Control Engineering, Mechanical Engineering, and Mechatronics.
Section1: Biped Locomotion.- Studying the two-legged walking system
with video capture methods.- Stacked Modulation Architecture for Simultaneous
Exploration and Navigation of a Biped Robot.- Continuous inverse kinematics
in singular position.- Analysis of biped robot on uneven terrain based on
feed-forward control.- Section2: Human-Machine / Human-Robot Interaction.-
The spherical pedal control device for omni-directional mobile robot
operation.- Modelling of pedestrians crossing a crosswalk and robot
navigation based on its characteristics.- Section3: Innovative Actuators and
Power Supplies.- Design and modelling of a modular robotic joint.- Section4:
Innovative Design of CLAWAR.- The flatworm-like pedal locomotory
robotwormesh-II: fundamental properties of pedalwave locomotion.-
Experimental investigation of locomotive efficiency of a soft robotic eel
with a largely passive body.- Section5: Inspection.- Residual water removal
mechanism for obtaining clear images with sewer pipeinspection robot.-
Wireless communication with mobile inspection robots operating while
submerged inside oil storage tanks.- Climbing robot to perform radiography of
wind blades.- Section6: Legged Locomotion.- Simulation-based climbing
capability analysis for quadrupedal robots.- Enhancing legged robot
navigation of rough terrain via tail tapping.- Section7: Modelling and
Simulation of CLAWAR.- Trajectory planning strategy for the links of a
walking human-machine system using a neural network.- Passive motion analysis
of two identical regular octagonal objects that move on passively vibrating
tilted stage.- Analysis of passive dynamic gait of tensegrity robot.-
Section8: Outdoor and Field Robotics.- Semi-autonomous mobile robot for
environmental surfaces disinfections against SARS-CoV-2.- Horizontal drilling
with seabed robotic explorer.- Development of the object transfer robot with
variable height using a pantograph-type jack system.- Section9: Planning and
Control.- Learning and transfer of movement gaits using reinforcement
learning.- Rolling resistance model and control of spherical robot.-
Experimental investigations of the controlled motion of the roller racer
robot.- Generation of the self-motion manifolds of a functionally redundant
robot using multi-objective optimization.- Section10: Wearable Devices and
Assistive Robotics.- Evaluation method of gait motion of a patient received
total knee arthroplasty using correlation between measurement data and
evaluation score.- Lightweight locomotion assistant for people with mild
disabilities.- Possibility of getting on/off public vehicle by manual
wheelchair with 4 degrees of freedom contact arm mechanism.
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Püsilink: https://www.kriso.ee/db/97830308629476e.html