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excerpt from the book: Marko B. Popovic, Biomechanics and Robotics, Pan Stanford Publishing Pte. Ltd., 2013 (No of pages 351) Print ISBN: 9789814411370, eBook ISBN: 9789814411387, DOI: 10.4032/9789814411387 Copyright © 2014 by Pan Stanford Publishing Pte. Ltd. Chapter 6. Evolution of Legged Machines and Robots Chapter outline: Early Legged Machines in the 19th Century 193 Legged Machines in the First Half of the 20th Century 195 Legged Machines during 1950–1970 196 Legged Robots during 1970–1980 197 Legged Robots during 1980–1990 199 Legged Robots during 1990–2000 204 Legged Robots since 2000 208 References and Suggested Reading 214 [chapter content intentionally omitted] References: About AIBO, http://www.sonyaibo.net/aboutaibo.htm. Retrieved July 2012. Asimo by Honda, history, http://asimo.honda.com/asimo-history/. Retrieved July 2012. ASIMO—Wikipedia, the free encyclopedia, http://en.wikipedia.org/wiki/ASIMO. Retrieved July 2012. BBC News—Robotic cheetah breaks speed record for legged robots, (BBC News Technology 6 March 2012) http://www.bbc.com/news/technology-17269535. Retrieved July 2012. Big Muskie’s Bucket, McConnelsville, Ohio, http://www.roadsideamerica.com/story/2184. Retrieved July 2012. Boston Dynamics: Dedicated to the Science and Art of How Things Move; http://www.bostondynamics.com/robot_bigdog.html. Retrieved July 2012. Chavez-Clemente, D., “Gait Optimization for Multi-legged Walking Robots, with Application to a Lunar Hexapod”, PhD Dissertation, the Stanford University Department of Aeronautics and Astronautics, January 2011. Cox, W., “Big muskie”, The Ohio State Engineer, p. 25–52, 1970. Cyberneticzoo.com. Early Humanoid Robots, http://cyberneticzoo.com/?page_id=45. Retrieved July 2012. Cyberneticzoo.com. Walking Machines inc. Steam Man Timeline, http://cyberneticzoo.com/?page_id=164. Retrieved July 2012. Fackelmann, K., “Dinosaurs walk again, thanks to technology” (on robotic dinosaur Troody created by Peter Dilworth – the last Leg Lab’s robot), USA Today, 08/20/2001, http://www.usatoday.com/life/cyber/tech/2001-08-20-robo-dinosaur.htm. Retrieved July 2012. Folkard, C. (ed.), The Guinness Book of Records 2005, Special 50th Anniversary Edition, Bantam Books, New York, 2005. Goldman, D., Komsuoglu, H., and Koditschek, D., “March of the SandBots: A new generation of legged robots will navigate the world’s trickiest terrain”, April 2009, IEEE Spectr., http://spectrum.ieee.org/robotics/robotics-software/march-of-the-sandbots/2. Retrieved July 2012. Gregorio, P., Ahmadi, M., and Buehler, M., “Design, Control, and Energetics of an Electrically Actuated Legged Robot”, IEEE Trans. Syst. Man Cybern., 27(4), 1997. Hildebrand, M., “Symmetrical gaits of horses”, Science, 150, pp. 701–708, 1965. Hirai, K., “Current and Future Prospective of Honda Humanoid Robot”, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Grenoble, France, pp. 500–508, 1997. Hirai, K., Hirose, M., Haikawa Y., and Takenaka T., “The Development of Honda Humanoid Robot”, Proceedings of the IEEE International Conference on Robotics and Automation, Leuven, Belgium, pp. 1321–1326, 1998. Hirose Fukushima Lab, http://www-robot.mes.titech.ac.jp/robot/walking/walking_vehicle. Retrieved July 2012. Hirose, S., and Umetani, Y., “Some Consideration on a Feasible Walking Mechanism as a Terrain Vehicle”, Proceedings of the 3rd RoMan Symposium, Udine, Italy, 1978. Hirose, S., and Umetani, Y., The Basic Motion Regulation System for a Quadruped Walking Vehicle, ASME Publication 80-DET-34, pp. 1–6, 1980. History Making Mobile Robots, adapted by Buckley, D., 30 May 2011, from the Reuben Hoggett’s collection. http://davidbuckley.net/DB/HistoryMakers.htm. Retrieved July 2012. HOAP— Wikipedia, the free encyclopedia, http://en.wikipedia.org/wiki/HOAP. Retrieved July 2012. Honda E series—Wikipedia, the free encyclopedia, http://en.wikipedia.org/wiki/Honda_E_series. Retrieved July 2012. Honda P series—Wikipedia, the free encyclopedia, http://en.wikipedia.org/wiki/Honda_P_series. Retrieved July 2012. Humanoid Robotics Project—Wikipedia, the free encyclopedia, http://en.wikipedia.org/wiki/Humanoid_Robotics_Project. Retrieved July 2012. In pics: the singing, dancing she-bot, http://ibnlive.in.com/photogallery/2603.html#2603-3.html. Retrieved July 2012. Inventing the Sketchpad and Sutherland’s Other Pioneering Contributions | Kyoto Prize USA, (Kyoto, Japan, June 22, 2012) http://kyotoprizeusa.com/inventing-the-sketchpad-and-sutherlands-other- pioneeringcontributions/. Retrieved July 2012. Ivan Sutherland—Wikipedia, the free encyclopedia, http://en.wikipedia.org/wiki/Ivan_Sutherland. Retrieved July 2012. Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., and Hirukawa, H., “Biped walking pattern generation by using preview control of zero-moment point”, IEEE International Conference on Robotics and Automation, ICRA ‘03, 2003. Kajita, S., Nagasaki, T., Kaneko, K., Yokoi, K., and Tanie, K., “A hop towards running humanoid biped”, IEEE International Conference on Robotics and Automation, ICRA ‘04, 2004. Kato, I., “Development of WABOT 1”, Biomechanisms, 173–214, 1973. Marc Raibert, http://www.ai.mit.edu/projects/leglab/old-leglab/people/mxr.html. Retrieved July 2012. Marko B. Popovic, the MIT Media Lab Presentations page: http://web.media.mit.edu/~marko/presentations.html other robots added at http://walltrust.com/MarkoBPopovic/presentations.htm. Retrieved July 2012. Matsuoka, K., “A mechanical model of repetitive hopping movements”, Biomechanisms, 5, pp. 251–258, 1980. Matsuoka, K., “A Repetitive Jumping Model”, Biomechanism 5, University of Tokyo Press, pp. 4501–4509, 1985. Matsuoka, K., “Sustained oscillations generated by mutually inhibiting neurons with adaptation”, Biol. Cybern., 52, 345–353, 1985. McGhee, R. B., “Some finite state aspects of legged locomotion,” Math. Biosci., vol. 2., pp. 67–84, 1968. McGhee, R. B., and Frank, A. A., “On the stability properties of quadruped creeping gaits”, Math. Biosci., 3(3–4), 331–351, 1968. McGhee, R. B., and Ishwandi, G. I., “Adaptive locomotion of a multilegged robot over rough terrain”, IEEE Trans. Syst. Man, Cybern., 9, 176–182, 1979. MIT Leg Lab Robots, http://www.ai.mit.edu/projects/leglab/robots/robots-main.html. Retrieved July 2012. Miura, H., “Dynamical walk of biped locomotion”, Robotics Research: 1st International Symposium on Robotics Research (ISRR1), pp. 303–325, Miura, H., and Shimoyama, I., “Dynamic Walk of a Biped”, IJRR, 3(2), 60–74, 1984. Paluska, D. “Design of a Humanoid Biped for Walking Research”, Master’s Thesis, Mechanical Engineering Department, Massachusetts Institute of Technology, Cambridge, Massachusetts, 2000. Popovic, M. B., Goswami, A., and Herr, H., “Ground Reference Points in Legged Locomotion: Definitions, Biological Trajectories and Control Implications”, Int. J. Robot. Res., 24(12), 2005. Pratt, G. A., and Williamson, M. M., “Series Elastic Actuators”, Proceedings of IEEE/RSJ IROS ‘95, pp. 399– 406, Pittsburgh, PA, 1995. Pratt, G. A., Williamson, M. M., Dillworth, P., Pratt, J., Ulland, K., and Wright, A., “Stiffness isn’t everything,” Proceedings of the 4th International Symposium Experimental Robotics, Stanford, CA, 1995. Pratt, J., “Virtual Model Control of a Biped Walking Robot”, M. Eng. Thesis, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge, Massachusetts, 1995. Pratt, J., Dilworth, P., and Pratt, G., “Virtual Model Control of a Bipedal Walking Robot”, Proceedings of ICRA ‘97, Albuquerque, NM, 1997. Pratt, J., and Pratt, G., “Exploiting Natural Dynamics in the Control of a Planar Bipedal Walking Robot”, Proceedings of the Thirty-Sixth Annual Allerton Conference on Communication, Control, and Computing, Monticello, IL, USA, September 1998. Raibert, M. H., and Sutherland, I. E., “Machines That Walk”, SciAm, 248(1), 44–53, 1983. Raibert, M. H., Brown, B. H., and Chepponis, M. Jr., “Experiments in Balance with a 3D one-Legged Hopping Machine”, Int. J. Robot. Res., 3( 2), 75–92, 1984. Raibert, M. H., Legged Robots That Balance, MIT Press, Cambridge, MA, 1986. Robinson, D. W., Pratt, J. E., Paluska, D. J., and Pratt, G. A., “Series Elastic Actuator Development for a Biomimetic Walking Robot”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Sept. 19–22, Atlanta, GA, USA, 1999. Robotics—Introduction, Kawada Industries Inc., http://global.kawada.jp/mechatronics/index.html. Retrieved July 2012. Sano, A., and Furusho, J., “Analysis of Dynamic Quadruped Locomotion Based on Quasi-Angular- Momentum”, T-SICE, 24(12), 1299–1305, 1988. Sano, A., and Furusho, J., “Dynamic Control of Biped Locomotion Robot Using Optimal Regulator”, Trans. Jpn. Soc. Mech. Eng. C, 54(504), 1804–1811, 1988. Sano, A., and Furusho, J., “3D Steady Walking Using Active Control of Body Sway Motion and Foot Pressure”, Proceedings of the USA-JAPAN Symposium on Flexible Automation, 2, 665–672, 1988. SONY Dream Robot, http://www.sonyaibo.net/aboutqrio.htm. Retrieved July 2012. Stunning Video of PETMAN Humanoid Robot From Boston Dynamics, IEEE Spectr., (posted by Guizzo, E., October 31, 2011) http://spectrum.ieee.org/automaton/robotics/humanoids/stunning-video-of- bostondynamics-petman-humanoid. Retrieved July 2012. Sutherland, I. E., and Ullner, M. K., “Footprints in the Asphalt”, Int. J. Robot. Res., 3(2), 29–36, 1984. Todd, D. J., “Walking machines: An introduction to legged robots”, Kogan Page, London, 1985. Tomovic, R., and Karplus, W. J., “Land Locomotion Simulation and Control”, Proceedings of the 3rd International Analogue Computation Meeting, Opatija, Yugoslavia, 385–390, 1961. Vukobratovic, M. and Juricic, D., “Contributions to the synthesis of biped gait”, IEEE Trans. Biomed. Eng., BME-16, 1969. Yamada, M. Furusho, J. and Sano, A., “Dynamic Control of Walking Robot with Kick-Action”, Proc. of ‘85 International Conference on Advanced Robotics, pp. 405–412, 1985. Waldron, K., and McGhee, R., “The Adaptive Supension Vehicle”, IEEE Control Syst. Mag.,6(6), 7–12, 1986. Williamson, M., “Series Elastic Actuators”, M.S. Thesis, M.I.T. Department of Electrical Engineering and Computer Science, 1995. .
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    MASTER'S THESIS Developing a ROS Enabled Full Autonomous Quadrotor Ivan Monzon 2013 Master of Science in Engineering Technology Engineering Physics and Electrical Engineering Luleå University of Technology Department of Computer Science, Electrical and Space Engineering Developing a ROS Enabled Full Autonomous Quadrotor Iv´anMonz´on Lule˚aUniversity of Technology Department of Computer science, Electrical and Space engineering, Control Engineering Group 27th August 2013 ABSTRACT The aim of this Master Thesis focuses on: a) the design and development of a quadrotor and b) on the design and development of a full ROS enabled software environment for controlling the quadrotor. ROS (Robotic Operating System) is a novel operating system, which has been fully oriented to the specific needs of the robotic platforms. The work that has been done covers various software developing aspects, such as: operating system management in different robotic platforms, the study of the various forms of program- ming in the ROS environment, evaluating building alternatives, the development of the interface with ROS or the practical tests with the developed aerial platform. In more detail, initially in this thesis, a study of the ROS possibilities applied to flying robots, the development alternatives and the feasibility of integration has been done. These applications have included the aerial SLAM implementations (Simultaneous Location and Mapping) and aerial position control. After the evaluation of the alternatives and considering the related functionality, au- tonomy and price, it has been considered to base the development platform on the Ar- duCopter platform. Although there are some examples of unmanned aerial vehicles in ROS, there is no support for this system, thus proper design and development work was necessary to make the two platforms compatible as it will be presented.
  • Malachy Eaton Evolutionary Humanoid Robotics Springerbriefs in Intelligent Systems

    Malachy Eaton Evolutionary Humanoid Robotics Springerbriefs in Intelligent Systems

    SPRINGER BRIEFS IN INTELLIGENT SYSTEMS ARTIFICIAL INTELLIGENCE, MULTIAGENT SYSTEMS, AND COGNITIVE ROBOTICS Malachy Eaton Evolutionary Humanoid Robotics SpringerBriefs in Intelligent Systems Artificial Intelligence, Multiagent Systems, and Cognitive Robotics Series editors Gerhard Weiss, Maastricht, The Netherlands Karl Tuyls, Liverpool, UK More information about this series at http://www.springer.com/series/11845 Malachy Eaton Evolutionary Humanoid Robotics 123 Malachy Eaton Department of Computer Science and Information Systems University of Limerick Limerick Ireland ISSN 2196-548X ISSN 2196-5498 (electronic) SpringerBriefs in Intelligent Systems ISBN 978-3-662-44598-3 ISBN 978-3-662-44599-0 (eBook) DOI 10.1007/978-3-662-44599-0 Library of Congress Control Number: 2014959413 Springer Heidelberg New York Dordrecht London © The Author(s) 2015 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made.