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Climbing and
Walking Robots
Towards New
Applications
Houxiang Zhang
Climbing and Walking Robots Towards New Applications
Edited by Houxiang Zhang
ISBN 978-3-902613-16-5, 546 pages,  Publishing date: October 2007
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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.

Table of Contents

01 Mechanics and Simulation of Six-Legged Walking Robots
Giorgio Figliolini and Pierluigi Rea
Downloads 278
02 Attitude and Steering Control of the Long Articulated Body Mobile Robot KORYU
Edwardo F. Fukushima and Shigeo Hirose
Downloads 274
03 Modular Walking Robots
Ion Ion, Ion Simionescu, Adrian Curaj and Alexandru Marin
Downloads 211
04 Non-time Reference Gait Planning and Stability Control for Bipedal Walking
Xianxin Ke, Jinwu Qian and Zhenbang Gong
Downloads 208
05 Design Methodology for Biped Robots: Applications in Robotics and Prosthetics
Maximo Roa, Diego Garzon and Ricardo Ramirez
Downloads 285
06 Amphibious NDT Robots
Tariq P. Sattar, Hernando E. Leon-Rodriguez and Jianzhong Shang
Downloads 305
07 Test Methods and Knowledge Representation for Urban Search and Rescue Robots
Craig Schlenoff, Elena Messina, Alan Lytle, Brian Weiss and Ann Virts
Downloads 311
08 Simplified Modelling of Legs Dynamics on Quadruped Robots' Force Control Approach
Jose L. Silvino, Peterson Resende, Luiz S. Martins-Filho and Tarcisio A. Pizziolo
Downloads 254
09 The Bio-Inspired SCORPION Robot: Design,Control & Lessons Learned
Spenneberg Dirk and Kirchner Frank
Downloads 336
11 Ball-shaped Robots
Tomi Ylikorpi and Jussi Suomela
Downloads 320
13 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
Downloads 231
16 Evolution of Biped Locomotion Using Linear Genetic Programming
Krister Wolff and Mattias Wahde
Downloads 235
17 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
Downloads 231
18 City-Climber: A New Generation Wall-climbing Robots
Jizhong Xiao and Ali Sadegh
Downloads 1250
20 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
Downloads 304
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
Downloads 270