Climbing and Walking Robots: Proceedings of the 7th International Conference CLAWAR 2004

Plenary Sessions.- Robot Vision: A Holistic View.- What Bipedal Human Locomotion Can Teach Us About Motor Control Synergies for Safe Robotic Locomotion.- Problems of Scale for Walking and Climbing Animals.- Biologically Motivated Control of Walking Machines.- Control.- Integer vs. Fractional Order Control of a Hexapod Robot.- Synchronous Landing Control of a Rotating 4-Legged Robot, PEOPLER, for Stable Direction Change.- Neuro-Controllers for Walking Machines - An Evolutionary Approach to Robust Behavior.- Decentralized Dynamic Force Distribution for Multi-legged Locomotion.- An Outdoor Vehicle Control Method Based Body Configuration Information.- Physically Variable Compliance in Running.- Implementation of a Driver Level with Odometry for the LAURON III Hexapod Robot.- Local Positive Velocity Feedback (LPVF): Generating Compliant Motions in a Multi-Joint Limb.- Motion Calculation for Human Lower Extremities Based on EMG-Signal-Processing and Simple Biomechanical Model.- Bifurcating Recursive Processing Elements in Neural Architectures for Applications in Multi-Dimensional Motor Control and Sensory Fusion in Noisy/Uncertain Environments.- The Effectiveness of Energy Conversion Elements in the Control of Powered Orthoses.- Kinematical Behavior Analysis and Walking Pattern Generation of a Five Degrees of Freedom Pneumatic Robotic Leg.- Artificial Potential Based Control for a Large Scale Formation of Mobile Robots.- Mobile Mini Robots for MAS.- Two Neural Approaches for Solving Reaching Tasks with Redundant Robots.- Design and Implementation of Force Sensor for ROBOCLIMBER.- Detecting Zero-Moment Point in Legged Robot.- Vision Feedback in Control of a Group of Mobile Robots.- Design.- Kinematics of a New Staircase Climbing Wheelchair.- Open Modular Design for Robotic Systems.- Mechanical Design Optimization of a Walking Robot Leg Using Genetic Algorithm.- Design Toolset for Realising Robotic Systems.- Design, Dynamic Simulation and Experimental Tests of Leg Mechanism and Driving System for a Hexapod Walking Robot.- Limb-Mechanism Robot with Winch Mechanism.- Embodiment in Two Dimensions.- Legged Robot with Articulated Body in Locomotion Over Complex Terrain.- WALKIE 6.4: A New Improved Version of a Rigid Frames Hexapod Rover.- Wall Walker: Proposal of Locomotion Mechanism Cleaning Even at the Corner.- Behaviour Networks for Walking Machines - A Design Method.- Biological Inspired Walking - How Much Nature Do We Need?.- Sensors, Teleoperation and Telepresence.- Results of Applying Sensor Fusion to a Control System Using Optic Flow.- Novel Method for Virtual Image Generation for Teleoperation.- Intelligent Technical Audition and Vision Sensors for Walking Robot Realizing Telepresence Functions.- Learning About the Environment by Analyzing Acoustic Information. How to Achieve Predictability in Unknown Environments? (Part II).- Ultrasound Sensor System with Fuzzy Data Processing.- Finding Odours Across Large Search Spaces: A Particle Swarm-Based Approach.- Vision Feedback in Control of a Group of Mobile Robots.- Vehicle Teleoperation with a Multisensory Driving Interface.- Approaches to the Generation of Whole Body Motion Sensation in Teleoperation.- Virtual Platform for Land-Mine Detection Based on Walking Robots.- Vision Computer Tool to Improve the Dependability of Mobile Robots for Human Environments.- Efficiency and Actuation.- Toward Springy Robot Walk Using Strand-Muscle Actuators.- Actuator Sizes in Bio-Robotic Walking Orthoses.- The Design and Simulated Performance of an Energy Efficient Hydraulic Legged Robot.- The Modularity of Super Embedded Robotic PC.- Mass Distribution Influence on Power Consumption in Walking Robots.- Design of Dual Actuator for Walking Robots.- Hopping, Biped and Humanoid Robots.- Control of a 3-D Hopping Apparatus.- Learning of the Dynamic Walk of an Under-Actuated Bipedal Robot: Improvement of the Robustness by Using CMAC Neural Networks.- Dynamic Stabilization of an Under-Actuated Robot Using Inertia of the Transfer Leg.- Kinematic and Dynamic Analyses of a Pantograph-Leg for a Biped Walking Machine.- Humanoid Robot Kinematics Modeling Using Lie Groups.- GA Optimisation of the PD Coefficients for the LMBC of a Planar Biped.- Three-Dimensional Running is Unstable but Easily Stabilized.- A Biomimetic Approach for the Stability of Biped Robots.- Parallel Manipulator Hip Joint for a Bipedal Robot.- Gaits Stabilization for Planar Biped Robots Using Energetic Regulation.- Force Feedback Control Implementation for SMART Non-Linear Actuator.- User Friendly Graphical Environment for Gait Optimization of the Humanoid Robot Rh-0.- Development of the Light-Weight Human Size Humanoid Robot RH-0.- Human Machine Interface for Humanoid Robot RH-0.- Trajectory Planning for the Walking Biped "Lucy".- Height Control of a Resonance Hopping Robot.- Zero Moment Point Modeling Using Harmonic Balance.- An Introductory Revision to Humanoid Robot Hands.- Control Architecture of LUCY, a Biped with Pneumatic Artificial Muscles.- Passive Walking Locomotion Locomotion.- Stable Walking and Running Robots Without Feedback.- From Passive to Active Dynamic 3D Bipedal Walking - An Evolutionary Approach.- First Steps in Passive Dynamic Walking.- Controlling Walking Period of a Pneumatic Muscle Walker.- Evolutionary Design of an Adaptive Dynamic Walker.- The Passivity Paradigm in the Control of Bipedal Robots.- Ankle Joints and Flat Feet in Dynamic Walking.- Robotic Walking Aids for Disabled Persons.- The Tango of a Load Balancing Biped.- Locomotion Modes of an Hybrid Wheel-Legged Robot.- Stabilizing Dynamic Walking with Physical Tricks.- Stability of a Spherical Pendulum Walker.- A CLAWAR That Benefits From Abstracted Cockroach Locomotion Principles.- iSprawl: Autonomy, and the Effects of Power Transmission.- Locomotion of a Modular Worm-like Robot Using a FPGA-based Embedded MicroBlaze Soft-processor.- Evolutionary Synthesis of Structure and Control for Locomotion Systems.- Kinematic Model and Absolute Gait Simulation of a Six-Legged Walking Robot.- Climbing and Navigation.- Simulation of Climbing Robots Using Underpressure for Adhesion.- Technique for a Six-Legged Walker Climbing a High Shelf by Using a Vertical Column.- Inverse Kinematic/Dynamic Analysis of a New 4-DOF Hybrid (Serial-Parallel) Pole Climbing Robot Manipulator.- Climbing Without a Vacuum Pump.- ROBOCLIMBER: Control System Architecture.- Navigation of Walking Robots: Localisation by Odometry.- Towards Penetration-based Clawed Climbing.- Motion Planning for a Legged Vehicle Based on Optical Sensor Information.- Developing Climbing Robots for Education.- Robust Localisation System for a Climbing Robot.- Roboclimber: Proposal for Online Gait Planning.- Adhesion Control for the Alicia3 Climbing Robot.- Applications.- In Service Inspection Robotized Tool for Tanks Filled with Hazardous Liquids - Robtank Inspec.- SIRIUSc - Facade Cleaning Robot for a High-Rise Building in Munich, Germany.- In-Pipe Microrobot with Inertial Mood of Motion.- The Layer-Crossing Strategy of Curved Wall Cleaning Robot.- Pneumatic Climbing Robots for Glass Wall Cleaning.- Design and Prototyping of a Hybrid Pole Climbing and Manipulating Robot with Minimum DOFs for Construction and Service Applications.- Innovative Systems.- Design and Control of a Manipulator for Landmine Detection.- Interactions Between Human and Robot - Case Study: WorkPartner-Robot in the ISR 2004 Exhibition.- Robust Platform for Humanitarian Demining.- Co-Operative Smell-Based Navigation for Mobile Robots.- A Localization Algorithm for Outdoor Trajectory Tracking with Legged Robots.- Sit to Stand Transfer Assisting by an Intelligent Walking-Aid.- CLAWAR Network Workpackages.- CLAWAR Modularity - Design Tools.- Interaction Space Analysis for CLAWAR WP5 Societal Needs.- CLAWAR WP3 Applications: Natural/Outdoor and Underwater Robots.- CLAWAR 2 Work Package 6 (WP6) - Assessment Year 2, May 2004. Economic Prospects for Mobile Robotic Systems - Exploitation and Risk.