2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018
https://ridda2.utp.ac.pa/handle/123456789/5367
CLAWAR 2018: 21st International Conference. Panama City, Panama during 10 – 12 September 2018.2024-03-25T22:51:37ZProceedings of CLAWAR 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
https://ridda2.utp.ac.pa/handle/123456789/5801
Proceedings of CLAWAR 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
Montes Franceschi, Héctor; Tokhi, M Osman; S Virk, Gurvinder; Armada, Manuel; Rodríguez, Humberto; Fernandez, Roemi; Gonzalez de Santos, Pablo; Sanchez, Victor; Silva, Manuel
CLAWAR 2018 is the twenty-first 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 the Universidad Tecnológica de Panamá (UTP) within the premises of UTP, Panama City, Panama during 10 – 12 September 2018.
CLAWAR 2018 brings new developments and associated new research findings in robotics technologies for shaping the future. The topics covered include assistive robotics for levels of augmentation to full support for elderly and disabled mobility, rehabilitation and function restoration; services to humans in industrial, public and domestic environments; new locomotion and design strategies to help in climbing on various terrains; navigation and localisation approaches, non-destructive testing and inspection strategies for industrial applications.
CLAWAR 2018 is the twenty-first 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 the Universidad Tecnológica de Panamá (UTP) within the premises of UTP, Panama City, Panama during 10 – 12 September 2018.
CLAWAR 2018 brings new developments and associated new research findings in robotics technologies for shaping the future. The topics covered include assistive robotics for levels of augmentation to full support for elderly and disabled mobility, rehabilitation and function restoration; services to humans in industrial, public and domestic environments; new locomotion and design strategies to help in climbing on various terrains; navigation and localisation approaches, non-destructive testing and inspection strategies for industrial applications.
Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire Set
https://ridda2.utp.ac.pa/handle/123456789/5785
Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire Set
Although a mechanism in which a single actuator and a wire passing through pulleys drive the joints is a strong candidate for realizing the dynamic behavior because of its appropriate weight and simple mechanism, the problem arises that the position of the pulley influences the dynamic behavior. This paper is focused on vertical jumping. In our research, we searched an appropriate set of positions of a pulley considering the practical development of the robot and derived the relationship between the position of the pulley and the force on the tips of the robot’s foot for jumping. Simulation results suggest the possibility that some sets of positions allow an error in the attachment of the pulley, and the derived relationship indicates that the ratio of the pulling force of wire and vertical force on the ground strongly constrain the position of the pulley.
A Novel Holonomic Mobile Manipulator Robot For Construction Sites
https://ridda2.utp.ac.pa/handle/123456789/5781
A Novel Holonomic Mobile Manipulator Robot For Construction Sites
This article describes a novel mobile manipulator robot designed to work at height on construction sites. The robot comprises a mobile platform and a scissor lifter on which an ABB 6 dof manipulator is mounted. The mobile base is characterised by holonomic kinematics, provided by a novel designed omnidirectional wheel system that can travel directly and autonomously to desired poses. The robot was successfully tested in a construction site scenario to perform drilling tasks.
System identification and HSDBC-optimized pid control of a portable lower-limb rehabilitation device
https://ridda2.utp.ac.pa/handle/123456789/5790
System identification and HSDBC-optimized pid control of a portable lower-limb rehabilitation device
The present paper introduces a novel portable leg rehabilitation system (PLRS) that is developed to provide the user with the necessary rehabilitation exercises for both the knee and ankle in addition to the portability feature to overcome the hardships associated with both effort and cost of hospitals and rehabilitation clinics’ steady sessions. Prior realizing the actual prototype, the proposed configuration was visualized using SolidWorks including its main components. Aiming to control the developed system, and given the fact that tuning controller parameters is not an easy task, Hybrid Spiral-Dynamics Bacteria-Chemotaxis (HSDBC) algorithm has been applied on the proposed control strategy in order to obtain a satisfactory performance. The obtained system performance was satisfactory in terms of desired elevation and settling time.