Synergetic Cooperation Between Robots and Humans : Proceedings of the CLAWAR 2023 Conference--Volume 1

• Autore: Youssef Ebrahim Samer El
• Pubblicazione: Cham : , : Springer International Publishing AG, , 2024; ©2024
• Edizione: 1st ed.
• Descrizione fisica: 1 online resource (282 pages)
• Altri autori: TokhiMohammad Osman SilvaManuel F RinconLeonardo Mejia
• Nota di contenuto: Intro -- Foreword -- Preface -- Acknowledgements -- Contents -- Contributors -- Abbreviations -- Plenary Presentations -- Biped Walking with Robots and Exoskeletons: Marching Towards Bionic Gait -- Multibody Dynamics with Contact-Impact Events: Roots, Models and Applications -- Human-Like Bipedal Locomotion -- Climbing and Inspection Robots -- Analysis of the Influence of Human Exposure to Risk and ESG as Motivators for the Implementation of Climbing and Mobile Robots -- 1 Introduction -- 2 Related Work -- 3 Discussion and Results -- 3.1 Trend Analysis in Climbing and Mobile Robots -- 3.2 Robots Developed by the SENAI Innovation Institute for Manufacturing Systems -- 4 Conclusion -- References -- Multidimensional Map: A Conceptual Design Tool to Develop Robots for Power Lines -- 1 Introduction -- 2 Mechanical Strength of Power Lines -- 2.1 Catenary Modelling -- 2.2 Forces from a Concentrated Load on the Power Line -- 2.3 Safety Factor for a Robot on Standby -- 2.4 Safety Factor for Installing a Robot on a Power Cable -- 3 Electronic Control Specifications and Power Supply -- 4 Conceptual Design Tool to Evaluate Power Line Robots -- 5 Case Study: Center of Mass Maneuvering Robot -- 6 Discussion -- 7 Conclusions -- References -- Mobility Strategy of Multi-limbed Climbing Robots for Asteroid Exploration -- 1 Introduction -- 1.1 Related Works -- 1.2 Objective and Contributions -- 2 Mobility Strategy in Microgravity -- 2.1 Gait Planning -- 2.2 Motion Planning -- 3 Simulated Case Studies -- 4 Experimental Case Study -- 5 Conclusions -- References -- Low-Cost Prototype for Analysis and Monitoring of Underwater Structures -- 1 Introduction -- 2 Methodology -- 2.1 Sonar -- 2.2 Mechanical Design -- 2.3 Embedded Electronics -- 2.4 Pre-processing -- 2.5 Pos-processing -- 3 Experimental Results -- 4 Conclusion -- References. ; Swerve Drive Autonomous Robot for Tiles Thermographic Inspection -- 1 Introduction -- 2 Description of the Robotic System -- 2.1 Mechanical System Description -- 2.2 Electronics and Communication -- 3 Control Architecture -- 3.1 Robot Description and Navigation Package -- 4 Inspection Test and Strategy -- 4.1 Image Processing for Hollowness Identification -- 5 Conclusions -- References -- Walking Robot Applied to the Tube Inspection Activity -- 1 Introduction -- 2 State of Art -- 2.1 Pipe Environment -- 2.2 Robots Attribute -- 2.3 Robots Categories -- 2.4 Legged Type of Robot -- 3 Development -- 3.1 Structural Synthesis -- 3.2 Type and Dimensional Synthesis -- 4 Results -- 5 Conclusion -- References -- Hybrid Omnidirectional Wheeled Climbing Robot with an Electromagnet for Inspection -- 1 Introduction -- 2 Materials and Methods -- 2.1 Robot Hardware -- 2.2 Robot Control -- 3 Experiments and Results -- 3.1 1st Experiment: Adhesion and Friction -- 3.2 2nd Experiment: Different Wheel Configurations -- 3.3 3rd Experiment: Payload -- 4 Discussion and Conclusion -- References -- Education in Robotics and Robotics in Education -- A Didactic Approach to Energy-Based Dynamic Modeling: Least Action, D'Alembert Principle and Euler-Lagrange Formalism -- 1 Introduction -- 2 Functional and Least Action -- 2.1 Case Study to Understand the Concept of Functional and Action -- 2.2 Case Study to Understand the Concept of Least Action -- 3 The Principle of D'Alembert -- 3.1 Case Study of Modeling Dynamics for a Simple System Using the Principle of D'Alembert -- 3.2 Case Study of Differential Kinematics and Statics of a Robotic Manipulator Using the Principle of D'Alembert -- 4 Euler-Lagrange Formalism -- 4.1 Case Study of Modeling Dynamics for a Simple System Using the Euler-Lagrange Formalism. ; 4.2 Case Study of Modeling Dynamics for a 2 DOF Mechanism Using the Euler-Lagrange Formalism -- 5 Conclusion -- References -- Energy Efficiency Analysis of Differential and Omnidirectional Robotic Platforms: A Comparative Study -- 1 Introduction -- 2 Methodology -- 2.1 Kinematics -- 2.2 Trajectory Control -- 3 Results and Discussion -- 4 Conclusions and Future Work -- References -- Design and Development of an Omnidirectional Mecanum Platform for the RobotAtFactory 4.0 Competition -- 1 Introduction -- 2 State of the Art -- 3 Development and Results -- 3.1 Hardware Architecture -- 3.2 Kinematics Models -- 3.3 Simulation and Real Scenario Comparison -- 4 Conclusion -- References -- Hybrid and Convertible Unmanned Aerial Vehicles -- Single-Segment Analysis for the Performance Optimization of a Tilt-Rotor All-Electric RPAS. ProVANT-EMERGENTIa Project -- 1 Introduction -- 2 Aircraft Modelling -- 2.1 Flight Dynamics Model -- 2.2 Aerodynamic Model -- 2.3 Propulsive Model -- 3 Flight Segments and Case Studies -- 3.1 Vertical Take Off -- 3.2 Hovering -- 3.3 Vertical to Plane-Mode Regime Transition -- 3.4 Plane-Mode Climb -- 3.5 Cruise Straight-and-Level Flight -- 3.6 Plane-Mode Descent -- 3.7 Horizontal to Vertical Regime Transition -- 3.8 Vertical Landing -- 4 Results -- 4.1 Vertical Take-Off -- 4.2 Vertical to Horizontal Transition -- 4.3 Cruise Straight-and-Level Flight -- 5 Conclusions and Future Work -- References -- Parametric Aerodynamic Study of a Convertible Aircraft Using CFD Tools. ProVANT EMERGENTIa Project -- 1 Introduction -- 2 Computational Fluid Dynamics (CFD) -- 3 Setup of the Simulations -- 4 Results -- 4.1 V-Tail -- 4.2 Wing -- 4.3 Fuselage -- 4.4 Whole Aircraft -- 5 Conclusions and Future Work -- References. ; Wind Tunnel Study of a VTOL-UAV and Its V-Tail for Its Longitudinal and Directional Aerodynamic Characterisation. ProVANT EMERGENTIa project -- 1 Introduction -- 1.1 State of the Art -- 2 Experimental Setup and Models Description -- 2.1 Wind Tunnel Description. Positioning and Data Acquisition Systems -- 2.2 Models' Adaptation to the Wind Tunnel and Fabrication -- 3 Experimental Procedure -- 4 Corrections and Data Processing -- 4.1 Wind Tunnel Corrections -- 4.2 Aerodynamic Forces and Moments Coefficients Calculation -- 4.3 Data Processing -- 4.4 Statistical Validation of the Experimental Results -- 5 Analysis of the Results -- 5.1 Longitudinal and Directional Characterisation of the Aircraft -- 5.2 Longitudinal Characterisation of the V-Tail with Deflections -- 5.3 Validation of the Results by Means of CFD Simulations -- 6 Conclusion -- References -- Joint State-Parameter Observer-Based Robust Control of a UAV for Heavy Load Transportation -- 1 Introduction -- 2 Octocopter UAV Modeling -- 3 Nonlinear W Control of the Octocopter UAV -- 4 Joint State, Input and Parameter Estimation -- 4.1 Load Parameterization, Sensors, and Control Structure -- 5 Numerical Experiments -- 6 Conclusions -- References -- A Robust Nonlinear Flight Control in the Weighted Sobolev Space for a Quadtiltrotor UAV -- 1 Introduction -- 2 Quadtiltrotor UAV Modeling -- 3 Control Design -- 4 Results -- 5 Conclusions -- References -- Prototyping of a Sealing Cap for a Hybrid Unmanned Aerial Underwater Vehicle with Onboard Instrumentation -- 1 Introduction -- 2 Related Work -- 3 Vehicle Configuration -- 3.1 Proof Capsule for HUAUV -- 3.2 Basic Instrumentation for a HUAUV -- 4 Validation Methodology -- 5 Results, Discussion, and Future Works -- References -- Visual Sensors Benchmark for Development of an Autonomous Navigation Setup for a Hybrid Unmanned Aerial Underwater Vehicle. ; 1 Introduction -- 2 System Overview -- 2.1 Watertight Enclosure -- 2.2 System Configuration -- 3 Theoretical Aspects -- 3.1 Related Works -- 3.2 Stereo Vision Observation Model-ZED-M -- 3.3 Stereo Depth Camera-Intel RealSense D435i -- 3.4 Setup Restriction -- 4 Experiment -- 5 Discussion -- 6 Conclusion -- References -- Legged Robots: From Foundations to Current Challenges and Perspectives -- Walking Motion Generation of Bipedal Robot Based on Planar Covariation Using Deep Reinforcement Learning -- 1 Introduction -- 2 Planar Covariation of Limb Elevation Angles During Walking -- 3 Bipedal Robot Model -- 4 Walking Control Methods -- 4.1 Deep Reinforcement Learning -- 4.2 Policy Gradient Methods -- 4.3 Rewards -- 5 Experiments -- 6 Conclusion and Future Works -- References -- FreeLander: A Versatile, Modular, Multi-legged Robot Platform for Complex Terrains -- 1 Introduction -- 2 Materials and Methods -- 3 Experimental Results -- 3.1 Testing the Two-legged Robot with Electromagnetic Feet in Various Pipe Conditions -- 3.2 Testing the Six- and Eight-Legged Robots on Different Terrains -- 4 Discussion and Conclusion -- References -- A Two-Legged Robot for Climbing Vertical Surfaces Based on Pressure-Sensitive Adhesion and Peeling -- 1 Introduction -- 2 Design Overview -- 2.1 Robot Design -- 2.2 Fabrication of the Robot -- 3 Kinematics and Dynamics of the Robot -- 4 Results and Discussion -- 5 Preliminary Testing -- 6 Conclusion -- References -- Stair-Climbing Charts: On the Optimal Body Height for Quadruped Robots to Walk on Stairs -- 1 Introduction and State-of-the-Art -- 2 Computing the Optimal Height for Stair-Climbing -- 2.1 Assumptions and Definitions -- 2.2 Method Description and Definition of Optimal Height -- 3 Stair-Climbing Charts -- 4 Results -- 5 Conclusions -- References -- Author Index.
• ISBN: 3-031-47269-1
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Lingua di pubblicazione: Inglese
• Record Nr.: 9910835058003321
• Lo trovi qui: Univ. Federico II
• Serie: Lecture Notes in Networks and Systems Series