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.
Table des matières
Section–1: 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.- Section–2: 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.- Section–3: Innovative Actuators and Power Supplies.- Design and modelling of a modular robotic joint.- Section–4: 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.- Section–5: 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.- Section–6: Legged Locomotion.- Simulation-based climbing capability analysis for quadrupedal robots.- Enhancing legged robot navigation of rough terrain via tail tapping.- Section–7: 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.- Section–8: Outdoor and Field Robotics.- Semi-autonomous mobile robot for environmental surfaces disinfections against SARS-Co V-2.- Horizontal drilling with seabed robotic explorer.- Development of the object transfer robot with variable height using a pantograph-type jack system.- Section–9: 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.- Section–10: 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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