Climbing and Walking Robots: towards New Applications

With the advancement of technology, new exciting approaches enable us to render mobile robotic systems more versatile, robust and cost-efficient. Some researchers combine climbing and walking techniques with a modular approach, a reconfigurable approach, or a swarm approach to realize novel prototypes as flexible mobile robotic platforms featuring all necessary locomotion capabilities. The purpose of this book is to provide an overview of the latest wide-range achievements in climbing and walking robotic technology to researchers, scientists, and engineers throughout the world. Different aspects including control simulation, locomotion realization, methodology, and system integration are presented from the scientific and from the technical point of view. This book consists of two main parts, one dealing with walking robots, the second with climbing robots. The content is also grouped by theoretical research and applicative realization. Every chapter offers a considerable amount of interesting and useful information.

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Table of Contents

1. Mechanics and Simulation of Six-Legged Walking Robots
   Giorgio Figliolini and Pierluigi Rea
   1384 views, 592 downloads
   
2. Dynamic Walk of Humanoids: Momentum Compensation Based on the Optimal Pelvic Rotation
   Hiroshi Takemura, Akihiro Matsuyama, Jun Ueda, Yoshio Matsumoto, Hiroshi Mizoguchi and Tsukasa Ogasawara
   1109 views, 354 downloads
   
3. Attitude Control of a Six-Legged Robot in Consideration of Actuator Dynamics by Optimal Servo Control System
   H. Uchida and K. Nonami
   1213 views, 403 downloads
   
4. A 4WD Omnidirectional Mobile Platform and its Application to Wheelchairs
   Masayoshi Wada
   1202 views, 440 downloads
   
5. Evolution of Biped Locomotion Using Linear Genetic Programming
   Krister Wolff and Mattias Wahde
   1174 views, 318 downloads
   
6. Optimal Design of a New Wheeled Mobile Robot by Kinetic Analysis for the Stair-Climbing States
   Chun-Kyu Woo, Hyun Do Choi, Mun Sang Kim, Soo Hyun Kim and Yoon Keun Kwak
   1181 views, 397 downloads
   
7. City-Climber: A New Generation Wall-Climbing Robots
   Jizhong Xiao and Ali Sadegh
   2109 views, 2421 downloads
   
8. Connected Crawler Robot - Design and Motion Planning for Climbing a Step
   Sho Yokota
   1189 views, 532 downloads
   
9. A PAWL for Enhancing Strength and Endurance during Walking Using Interaction Force and Dynamical Information
   Feng Chen, Yong Yu, Yunjian Ge, Jian Sun and Xiaohong Deng
   1190 views, 411 downloads
   
10. Complex and Flexible Robot Motions by Strand-Muscle Actuators
    Masakazu Suzuki
    1163 views, 409 downloads
    
11. Ball-Shaped Robots
    Tomi Ylikorpi and Jussi Suomela
    1295 views, 704 downloads
    
12. A Climbing Robot for Cleaning Glass Surface with Motion Planning and Visual Sensing
    Dong Sun, Jian Zhu and Shiu Kit Tso
    1390 views, 486 downloads
    
13. Attitude and Steering Control of the Long Articulated Body Mobile Robot KORYU
    Edwardo F. Fukushima and Shigeo Hirose
    1303 views, 374 downloads
    
14. Modular Walking Robots
    Ion Ion, Ion Simionescu, Adrian Curaj and Alexandru Marin
    952 views, 298 downloads
    
15. Non-Time Reference Gait Planning and Stability Control for Bipedal Walking
    Xianxin Ke, Jinwu Qian and Zhenbang Gong
    956 views, 329 downloads
    
16. Design Methodology for Biped Robots: Applications in Robotics and Prosthetics
    Maximo Roa, Diego Garzon and Ricardo Ramirez
    1332 views, 456 downloads
    
17. Amphibious NDT Robots
    Tariq P. Sattar, Hernando E. Leon-Rodriguez and Jianzhong Shang
    1180 views, 731 downloads
    
18. Test Methods and Knowledge Representation for Urban Search and Rescue Robots
    Craig Schlenoff, Elena Messina, Alan Lytle, Brian Weiss and Ann Virts
    1182 views, 477 downloads
    
19. Simplified Modelling of Legs Dynamics on Quadruped Robots' Force Control Approach
    Jose L. Silvino, Peterson Resende, Luiz S. Martins-Filho and Tarcisio A. Pizziolo
    1275 views, 425 downloads
    
20. The Bio-Inspired SCORPION Robot: Design,Control & Lessons Learned
    Spenneberg Dirk and Kirchner Frank
    1393 views, 582 downloads
    
21. Worm-like Locomotion Systems (WLLS) - Theory, Control and Prototypes
    Klaus Zimmermann, Igor Zeidis, Joachim Steigenberger, Carsten Behn, Valter Boehm, Jana Popp, Emil Kolev and Vera A. Naletova
    1144 views, 370 downloads