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These proceedings present a full state-of-the-art picture of the popular and motivating field of climbing and walking robots, featuring recent research by leading climbing and walking robot experts in various industrial and emerging fields.

Climbing and Walking Robots: Proceedings of the 7th International Conference CLAWAR 2004

Plenary Sessions.- Robot Vision: A Holistic View.- What Bipedal Human Locomotion Can Teach Us About Motor Control Synergies for Safe Robotic Locomotion.- Problems of Scale for Walking and Climbing Animals.- Biologically Motivated Control of Walking Machines.- Control.- Integer vs. Fractional Order Control of a Hexapod Robot.- Synchronous Landing Control of a Rotating 4-Legged Robot, PEOPLER, for Stable Direction Change.- Neuro-Controllers for Walking Machines - An Evolutionary Approach to Robust Behavior.- Decentralized Dynamic Force Distribution for Multi-legged Locomotion.- An Outdoor Vehicle Control Method Based Body Configuration Information.- Physically Variable Compliance in Running.- Implementation of a Driver Level with Odometry for the LAURON III Hexapod Robot.- Local Positive Velocity Feedback (LPVF): Generating Compliant Motions in a Multi-Joint Limb.- Motion Calculation for Human Lower Extremities Based on EMG-Signal-Processing and Simple Biomechanical Model.- Bifurcating Recursive Processing Elements in Neural Architectures for Applications in Multi-Dimensional Motor Control and Sensory Fusion in Noisy/Uncertain Environments.- The Effectiveness of Energy Conversion Elements in the Control of Powered Orthoses.- Kinematical Behavior Analysis and Walking Pattern Generation of a Five Degrees of Freedom Pneumatic Robotic Leg.- Artificial Potential Based Control for a Large Scale Formation of Mobile Robots.- Mobile Mini Robots for MAS.- Two Neural Approaches for Solving Reaching Tasks with Redundant Robots.- Design and Implementation of Force Sensor for ROBOCLIMBER.- Detecting Zero-Moment Point in Legged Robot.- Vision Feedback in Control of a Group of Mobile Robots.- Design.- Kinematics of a New Staircase Climbing Wheelchair.- Open Modular Design for Robotic Systems.- Mechanical Design Optimization of a Walking Robot Leg Using Genetic Algorithm.- Design Toolset for Realising Robotic Systems.- Design, Dynamic Simulation and Experimental Tests of Leg Mechanism and Driving System for a Hexapod Walking Robot.- Limb-Mechanism Robot with Winch Mechanism.- Embodiment in Two Dimensions.- Legged Robot with Articulated Body in Locomotion Over Complex Terrain.- WALKIE 6.4: A New Improved Version of a Rigid Frames Hexapod Rover.- Wall Walker: Proposal of Locomotion Mechanism Cleaning Even at the Corner.- Behaviour Networks for Walking Machines - A Design Method.- Biological Inspired Walking - How Much Nature Do We Need?.- Sensors, Teleoperation and Telepresence.- Results of Applying Sensor Fusion to a Control System Using Optic Flow.- Novel Method for Virtual Image Generation for Teleoperation.- Intelligent Technical Audition and Vision Sensors for Walking Robot Realizing Telepresence Functions.- Learning About the Environment by Analyzing Acoustic Information. How to Achieve Predictability in Unknown Environments? (Part II).- Ultrasound Sensor System with Fuzzy Data Processing.- Finding Odours Across Large Search Spaces: A Particle Swarm-Based Approach.- Vision Feedback in Control of a Group of Mobile Robots.- Vehicle Teleoperation with a Multisensory Driving Interface.- Approaches to the Generation of Whole Body Motion Sensation in Teleoperation.- Virtual Platform for Land-Mine Detection Based on Walking Robots.- Vision Computer Tool to Improve the Dependability of Mobile Robots for Human Environments.- Efficiency and Actuation.- Toward Springy Robot Walk Using Strand-Muscle Actuators.- Actuator Sizes in Bio-Robotic Walking Orthoses.- The Design and Simulated Performance of an Energy Efficient Hydraulic Legged Robot.- The Modularity of Super Embedded Robotic PC.- Mass Distribution Influence on Power Consumption in Walking Robots.- Design of Dual Actuator for Walking Robots.- Hopping, Biped and Humanoid Robots.- Control of a 3-D Hopping Apparatus.- Learning of the Dynamic Walk of an Under-Actuated Bipedal Robot: Improvement of the Robustness by Using CMAC Neural Networks.- Dynamic Stabilization of an Under-Actuated Robot Using Inertia of the Transfer Leg.- Kinematic and Dynamic Analyses of a Pantograph-Leg for a Biped Walking Machine.- Humanoid Robot Kinematics Modeling Using Lie Groups.- GA Optimisation of the PD Coefficients for the LMBC of a Planar Biped.- Three-Dimensional Running is Unstable but Easily Stabilized.- A Biomimetic Approach for the Stability of Biped Robots.- Parallel Manipulator Hip Joint for a Bipedal Robot.- Gaits Stabilization for Planar Biped Robots Using Energetic Regulation.- Force Feedback Control Implementation for SMART Non-Linear Actuator.- User Friendly Graphical Environment for Gait Optimization of the Humanoid Robot Rh-0.- Development of the Light-Weight Human Size Humanoid Robot RH-0.- Human Machine Interface for Humanoid Robot RH-0.- Trajectory Planning for the Walking Biped "Lucy".- Height Control of a Resonance Hopping Robot.- Zero Moment Point Modeling Using Harmonic Balance.- An Introductory Revision to Humanoid Robot Hands.- Control Architecture of LUCY, a Biped with Pneumatic Artificial Muscles.- Passive Walking Locomotion Locomotion.- Stable Walking and Running Robots Without Feedback.- From Passive to Active Dynamic 3D Bipedal Walking - An Evolutionary Approach.- First Steps in Passive Dynamic Walking.- Controlling Walking Period of a Pneumatic Muscle Walker.- Evolutionary Design of an Adaptive Dynamic Walker.- The Passivity Paradigm in the Control of Bipedal Robots.- Ankle Joints and Flat Feet in Dynamic Walking.- Robotic Walking Aids for Disabled Persons.- The Tango of a Load Balancing Biped.- Locomotion Modes of an Hybrid Wheel-Legged Robot.- Stabilizing Dynamic Walking with Physical Tricks.- Stability of a Spherical Pendulum Walker.- A CLAWAR That Benefits From Abstracted Cockroach Locomotion Principles.- iSprawl: Autonomy, and the Effects of Power Transmission.- Locomotion of a Modular Worm-like Robot Using a FPGA-based Embedded MicroBlaze Soft-processor.- Evolutionary Synthesis of Structure and Control for Locomotion Systems.- Kinematic Model and Absolute Gait Simulation of a Six-Legged Walking Robot.- Climbing and Navigation.- Simulation of Climbing Robots Using Underpressure for Adhesion.- Technique for a Six-Legged Walker Climbing a High Shelf by Using a Vertical Column.- Inverse Kinematic/Dynamic Analysis of a New 4-DOF Hybrid (Serial-Parallel) Pole Climbing Robot Manipulator.- Climbing Without a Vacuum Pump.- ROBOCLIMBER: Control System Architecture.- Navigation of Walking Robots: Localisation by Odometry.- Towards Penetration-based Clawed Climbing.- Motion Planning for a Legged Vehicle Based on Optical Sensor Information.- Developing Climbing Robots for Education.- Robust Localisation System for a Climbing Robot.- Roboclimber: Proposal for Online Gait Planning.- Adhesion Control for the Alicia3 Climbing Robot.- Applications.- In Service Inspection Robotized Tool for Tanks Filled with Hazardous Liquids - Robtank Inspec.- SIRIUSc - Facade Cleaning Robot for a High-Rise Building in Munich, Germany.- In-Pipe Microrobot with Inertial Mood of Motion.- The Layer-Crossing Strategy of Curved Wall Cleaning Robot.- Pneumatic Climbing Robots for Glass Wall Cleaning.- Design and Prototyping of a Hybrid Pole Climbing and Manipulating Robot with Minimum DOFs for Construction and Service Applications.- Innovative Systems.- Design and Control of a Manipulator for Landmine Detection.- Interactions Between Human and Robot - Case Study: WorkPartner-Robot in the ISR 2004 Exhibition.- Robust Platform for Humanitarian Demining.- Co-Operative Smell-Based Navigation for Mobile Robots.- A Localization Algorithm for Outdoor Trajectory Tracking with Legged Robots.- Sit to Stand Transfer Assisting by an Intelligent Walking-Aid.- CLAWAR Network Workpackages.- CLAWAR Modularity - Design Tools.- Interaction Space Analysis for CLAWAR WP5 Societal Needs.- CLAWAR WP3 Applications: Natural/Outdoor and Underwater Robots.- CLAWAR 2 Work Package 6 (WP6) - Assessment Year 2, May 2004. Economic Prospects for Mobile Robotic Systems - Exploitation and Risk.