Habib - Bioinspiration and Robotics - Walking and Climbing Robots (Itech, 2007).pdf - Najnowsze ksiazki(48) - walbo48

Bioinspiration and Robotics:

Walking and Climbing Robots

Bioinspiration and Robotics:

Walking and Climbing Robots

Edited by

Maki K. Habib

I-Tech

Published by Adva n ced Robotic Systems Interna tional and I-Tec h

I-Tech Education and Publishing

Vienna

Austria

Abstracting and non-profit use of the material is permitted with credit to the source. Statements and

opinions expressed in the chapters are these of the individual contributors and not necessarily those of

the editors or publisher. No responsibility is accepted for the accuracy of information contained in the

published articles. Publisher assumes no responsibility liability for any damage or injury to persons or

property arising out of the use of any materials, instructions, methods or ideas contained inside. After

this work has been published by the I-Tech Education and Publishing, authors have the right to repub-

lish it, in whole or part, in any publication of which they are an author or editor, and the make other

personal use of the work.

www.ars-journal.com

Additional copies can be obtained from:

publication@ars-journal.com

First published September 2007

Printed in Croatia

A catalogue record for this book is available from the Austrian Library.

Bioinspiration a nd Robotics: Walking and Climbing Robots, Edited by Maki K. Habib

p. cm.

ISBN 978-3-902613-15-8

1. Walking Robots. 2. Climbing Robots. I. Maki K. Habib

Preface

A large number of robots have been developed, and researchers continue to design

new robots with greater capabilities to perform more challenging and comprehen-

sive tasks. Between the 60s and end of 80s, most robot applications were related to

industries and manufacturing, such as assembly, welding, painting, material han-

dling, packaging, etc. However, the state-of-the-art in micro-technology, micro-

processors, sensor technology, smart materials, signal processing and computing

technologies, information and communication technologies, navigation technol-

ogy, and the biological inspiration in developing learning and decision-making

paradigms, MEMs, etc. have raised the demand for innovative solutions targeting

new areas of potential applications. This led to breakthrough in the invention of a

new generation of robots called service robots. The new types of robots aim to

achieve high level of intelligence, functionality, modularity, flexibility, adaptabil-

ity, mobility, intractability, and efficiency to perform wide range of tasks in com-

plex and hazardous environment, and to provide and perform services of various

kinds to human users and society. Service robots are manipulative and dexterous,

and have the capability to interact with human, perform tasks autonomously,

semi-autonomously (multi modes operation), and they are portable. Crucial pre-

requisites for performing services are safety, mobility, and autonomy supported by

strong sensory perception. Wide range of applications can be covered by service

robots, such as in agriculture & harvesting, healthcare/rehabilitation, cleaning

(house, public, industry), construction, humanitarian demining, entertainment, fire

fighting, hobby/leisure, hotel/restaurant, marketing, food industry, medical, min-

ing, surveillance, inspection and maintenance, search & rescue, guides & office,

nuclear power plant, transport, refilling & refuelling, hazardous environments,

military, sporting, space, underwater, etc.

Different locomotion mechanisms have been developed to enable an intelligent ro-

bot to move flexibly and reliably across a variety of ground surfaces, such as

wheels, crawlers, legs, etc. to support crawling, rolling, walking, climbing, jump-

ing, etc. types of movement. The application fields of such locomotion mechanisms

are naturally restricted, depending on the condition of the ground. In order to have

good mobility over uneven and rough terrain a legged robot seems to be a good

solution because legged locomotion is mechanically superior to wheeled or tracked

locomotion over a variety of soil conditions and certainly superior for crossing ob-

stacles. In addition, the potential is enormous for wall and pipe climbing robots

that can work in extremely hazardous environments, such as atomic energy,

chemical compounds, high-rise buildings and large ships. The focus on developing

such robots has intensified while novel and bio-inspired solutions for complex and

very diverse applications have been anticipated by means of significant progress in

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