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Robotics for Sustainable Future

CLAWAR 2021

  • Conference proceedings
  • © 2022

Overview

Editors:
  1. Daisuke Chugo

    1. Department of Engineering, Kwansei Gakuin University, Hyogo, Japan

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  2. Mohammad Osman Tokhi

    1. School of Engineering, London South Bank University, London, UK

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  3. Manuel F. Silva

    1. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

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  4. Taro Nakamura

    1. Chuo University, Bunkyo-ku, Japan

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  5. Khaled Goher

    1. School of Engineering, University of Lincoln, Lincolnshire, UK

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  • Includes recent research on Climbing and Walking Robots
  • Presents the proceedings of 24th International Conference Series on Climbing and Walking Robots
  • Has been written by leading experts in the field

Part of the book series: Lecture Notes in Networks and Systems (LNNS, volume 324)

Included in the following conference series:

Conference proceedings info: CLAWAR 2021.

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Table of contents (42 papers)

  1. Front Matter

    Pages i-xxxi
    Download chapter PDF

  2. Section–1: Biped Locomotion

    1. Front Matter

      Pages 1-1
      Download chapter PDF

    2. Studying the Two-Legged Walking System with Video Capture Methods

      • Alexander S. Pechurin, Sergey F. Jatsun, Andrey V. Fedorov, A. S. Jatsun
      Pages 3-12

    3. Stacked Modulation Architecture for Simultaneous Exploration and Navigation of a Biped Robot

      • Tomomichi Sugihara, Takanobu Yamamoto
      Pages 13-23

    4. Continuous Inverse Kinematics in Singular Position

      • Patrick Vonwirth, Karsten Berns
      Pages 24-36

    5. Analysis of Biped Robot on Uneven Terrain Based on Feed-Forward Control

      • Cong Yan, Fumihiko Asano, Yanqiu Zheng, Longchuan Li
      Pages 37-39

  3. Section–2: Human-Machine/Human-Robot Interaction

    1. Front Matter

      Pages 41-41
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    2. The Spherical Pedal Control Device for Omni-Directional Mobile Robot Manipulation

      • Thawanrat Siriwattanalerd, Ryosuke Sugimoto, Satoshi Muramatsu, Katsuhiko Inagaki
      Pages 43-53

    3. Modelling of Pedestrians Crossing a Crosswalk and Robot Navigation Based on Its Characteristics

      • Shunsuke Yamada, Daisuke Chugo, Satoshi Muramatsu, Sho Yokota, Jin-Hua She, Hiroshi Hashimoto
      Pages 54-66

  4. Section–3: Innovative Actuators and Power Supplies

    1. Front Matter

      Pages 67-67
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    2. A Compliant Leg Structure for Terrestrial and Aquatic Walking Robots

      • Peter Billeschou, Cao D. Do, Jørgen C. Larsen, Poramate Manoonpong
      Pages 69-80

    3. Design and Modelling of a Modular Robotic Joint

      • Marco Rocha, Vitor H. Pinto, José Lima, Paulo Costa
      Pages 81-92

  5. Section–4: Innovative Design of CLAWAR

    1. Front Matter

      Pages 93-93
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    2. The Flatworm-Like Pedal Locomotory Robot WORMESH-II: Fundamental Properties of Pedal Wave Locomotion

      • G. V. C. Rasanga, R. Hodoshima, S. Kotosaka
      Pages 95-107

    3. Experimental Investigation of Locomotive Efficiency of a Soft Robotic Eel with a Largely Passive Body

      • Dinh Quang Nguyen, Van Anh Ho
      Pages 108-116

    4. Non-assembly Walking Mechanism for Robotic In-Pipe Inspection

      • George H. Jackson-Mills, Basil A. Shead, James R. Collett, Masego Mphake, Nicholas Fry, Andrew R. Barber et al.
      Pages 117-128

    5. Improved Energy Efficiency via Parallel Elastic Elements for the Straight-Legged Vertically-Compliant Robot SLIDER

      • Ke Wang, Roni Permana Saputra, James Paul Foster, Petar Kormushev
      Pages 129-140

  6. Section–5: Inspection

    1. Front Matter

      Pages 141-141
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    2. Residual Water Removal Mechanism for Obtaining Clear Images with Sewer Pipe Inspection Robot

      • Kosuke Uchiyama, Hiroto Sato, Fumio Ito, Shunichi Kurumaya, Taro Nakamura
      Pages 143-153

    3. Wireless Communication with Mobile Inspection Robots Operating While Submerged Inside Oil Storage Tanks

      • Richard Anvo, Aman Kaur, Tariq P. Sattar
      Pages 154-164
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  1. Robotics for Sustainable Future

Keywords

About this book

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.

Editors and Affiliations

  • Department of Engineering, Kwansei Gakuin University, Hyogo, Japan

    Daisuke Chugo

  • School of Engineering, London South Bank University, London, UK

    Mohammad Osman Tokhi

  • School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  • Chuo University, Bunkyo-ku, Japan

    Taro Nakamura

  • School of Engineering, University of Lincoln, Lincolnshire, UK

    Khaled Goher

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