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"In this book, you can find a collection of the cutting edge technologies in the field of tree-climbing robot and the ways that animals climb. It provides a valuable reference for robot designers to select appropriate climbing methods in designing tree-climbing robots for specific purposes. Based on the study, a novel bio-inspired tree-climbing robot with several breakthrough performances has been developed and presents in this book. It is capable of performing various actions that is impossible in the state-of-the-art tree-climbing robots, such as moving between trunk and branches. This book also proposes several approaches in autonomous tree-climbing, including the sensing methodology, cognition of the environment, path planning and motion planning on both known and unknown environment. "

"The book represents new developments and advances in the field of bio-inspired robotics research introducing the state of the art, the idea of multi-locomotion robotic system to implement the diversity of animal motion. It covers theoretical and computational aspects of Passive Dynamic Autonomous Control (PDAC), robot motion control, multi legged walking and climbing as well as brachiation focusing concrete robot systems, components and applications. In addition, gorilla type robot systems are described as hardware of multi-locomotion robotic system. "

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Penggunaan multiple mobile robots dimaksudkan untuk meningkatkan efisiensi dalam mengerjakan suatu tugas yang kompleks. Pada area yang luas, multiple mobile robots banyak digunakan karena dapat bekerja secara paralel. Hingga saat ini, salah satu topik utama pada penelitian multiple mobile robots adalah pengendalian untuk membentuk formasi dan mempertahankan formasi. Metode untuk membentuk formasi antara lain adalah leaderless dan leader-follow. Metode leader-follow memiliki keunggulan pada kemudahannya dalam mengendalikan robot lain berdasarkan pada posisi relatif robot follower terhadap robot leader. Akan tetapi, masalah akan muncul ketika robot follower diharuskan untuk membentuk dan kemudian mengikuti trajectory robot leader. Dalam hal ini, terdapat kondisi di mana robot follower akan berhenti sementara saat nilai galat sudah sangat kecil. Hal ini dikarenakan robot follower hanya menerima informasi posisi relatif terhadap robot leader saja. Maka dari itu, dibutuhkan informasi kecepatan robot leader sebagai kompensasi apabila posisi robot follower terhadap robot leader sudah terpenuhi sehingga robot follower dapat mempertimbangkan posisi dan kecepatannya terhadap robot leader. Penelitian ini membuktikan algoritma sistem kendali formasi dengan referensi posisi dan kecepatan robot leader menghasilkan pembentukan dan pertahanan formasi yang lebih stabil dibandingkan dengan hanya menggunakan referensi posisi robot leader. Hasil pengujian dibuktikan melalui simulasi pada Gazebo dan eksperimen pada perangkat keras.

 

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The use of multiple mobile robots is intended to improve efficiency in carrying out of complex tasks. In a large area, multiple mobile robots are widely used because of the ability to work in parallel. Until now, one of the main topics in the study of multiple mobile robots are controlling and maintaining the formation. Methods for forming formation are leaderless and leader-follow. The leader-follow method has the easeness in controlling other robot based on the relative position of the robot follower to the robot leader. However, problems will arise when the robot followers are required to form and then follow the trajectory of the robot leader. In this case, there is a condition where the follower robot will stop temporarily when the error value is very small. This is because robot followers only receives position information relative to the robot leader. Therefore, information about the speed of the robot leader is needed so that robot follower can consider the position and speed of the robot leader. This study proves that the formation control system algorithm with reference to the position and speed of the robot leader produces formation and defense of the formation which is more stable compared to only using the robot leader position reference. Numerical simulations and real-time experiments are presented to prove the control strategy.

 

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"The 22nd Conference on Autonomous Mobile Systems (AMS 2012) provides a platform for idea exchange, scientific discussion and cooperation for scientists from universities as well as industry. Autonomous mobile systems as well as their practical approach are in the center of interest. The presented selection of articles focuses on approaches from the fields of perception and sensors, mapping and localization, control, navigation, micro- and nano robotics, machine learning, autonomous cars, humanoid robots, system architectures and the application in autonomous mobile systems."

"Putusnya jaringan komunikasi sebagai dampak suatu bencana merupakan permasalahan yang perlu cepat diatasi agar tidak menimbulkan kerugian yang lebih besar. Komunikasi antara lokasi bencana dengan dunia luar menjadi sangat penting dalam menentukan tindakan yang tepat untuk meminimalisasi kerugian akibat bencana. Kajian penggunaan mobile robot otonom untuk menghubungkan menara-menara komunikasi yang terputus dapat menjadi solusi alternatif untuk mengatasi masalah ini. Dalam penelitian ini, penulis mengkaji beberapa algoritma perluasan jaringan dalam bentuk simulasi menggunakan Library Open Dynamic Engine. Library Open Dynamic Engine merupakan library yang telah menggunakan perhitungan fisika secara efisien dan teruji sehingga dapat mendekati keadaan dunia sebenarnya. Simulasi ini bertujuan untuk mendemontrasikan serta membandingkan bahwa algoritma ini dapat dikembangkan untuk menghubungkan menara komunikasi.

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The disconnection in communication networks as the impact of a disaster is a problem that needs to be addressed quickly in order to avoid greater losses. Communication between the disaster site with the outside world becomes very important in determining the appropriate action to minimize losses due to disasters. Study the use of autonomous mobile robots for connecting communication towers that was disconnected can be alternative solutions to address these issues. In this study, the authors examine some of the network expansion algorithm in the form of a simulation using Open Dynamics Engine library. Library of Open Dynamic Engine is a library that has used physics calculations in an efficient and tested so can approach the state of the real world. This simulation aims to demonstrate and compare that this algorithm can be developed to connect the communication towers."

"In this paper, development of a reduced order, augmented dynamics-drive model that combines both the dynamics and drive subsystems of the skid steering mobile robot (SSMR) is presented. A Linear Quadratic Regulator (LQR) control algorithm with feed-forward compensation of the disturbances part included in the reduced order augmented dynamics-drive model is designed. The proposed controller has many advantages such as its simplicity in terms of design and implementation in comparison with complex nonlinear control schemes that are usually designed for this system. Moreover, the good performance is also provided by the controller for the SSMR comparable with a nonlinear controller based on the inverse dynamics which depends on the availability of an accurate model describing the system. Simulation results illustrate the effectiveness and enhancement provided by the proposed controller.Dalam paper ini, pengembangan reduced order, augmented model dynamics-drive yang mengga-bungkan kedua dinamika dan subsistem drive dari skid steering mobile robot (SSMR) ditampilkan. Sebuah algoritma kontrol Linear Quadratic Regulator (LQR) dengan kompensasi feed-forward dari disturbances part termasuk dalam reduced order augmented model dynamics-drive dirancang. Pengen-dali yang diusulkan memiliki banyak keuntungan seperti kesederhanaan dalam hal desain dan imple-mentasi dibandingkan dengan skema kontrol nonlinear kompleks yang biasanya dirancang untuk sistem ini. Selain itu, kinerja yang baik juga disediakan oleh pengendali untuk SSMR sebanding dengan pe-ngendali nonlinear berdasarkan dinamika inverse yang tergantung pada ketersediaan dari model yang akurat yang menggambarkan sistem. Hasil simulasi menggambarkan efektivitas dan peningkatan oleh pengendali yang diusulkan."

"This volume contains the proceedings of the RAAD 2018 conference, covering major areas of research and development in robotics. It provides an overview on the advances in robotics, more specifically in novel design and applications of robotic systems; dexterous grasping, handling and intelligent manipulation; intelligent cooperating and service robots; advanced robot control; human-robot interfaces; robot vision systems and visual serving techniques; mobile robots; humanoid and walking robots; field and agricultural robotics; bio-inspired and swarm robotic systems; developments towards micro and nano-scale robots; aerial, underwater and spatial robots; robot integration in holonic manufacturing; personal robots for ambient assisted living; medical robots and bionic prostheses; intelligent information technologies for cognitive robots etc.The primary audience of the work are researchers as well as engineers in robotics and mechatronics. "

"The Springer Reference Work Encyclopedia of Robotics addresses the existing need for an easily accessible yet authoritative and granular knowledge resource in robotic science and engineering. The encyclopedia is a work that comprehensively explains the scientific, application-based, interactive, and socio-ethical parameters of robotics. It is the first work that explains at the concept and fact level the state of the field of robotics and its future directions. The encyclopedia is a complement to Springer’s highly successful Handbook of Robotics that has analyzed the state of robotics through the medium of descriptive essays. Organized in an A-Z format for quick and easy understanding of both the basic and advanced topics across a broad spectrum of areas in a self-contained form. The entries in this encyclopedia will be a comprehensive description of terms used in robotics science and technology. Each term, when useful, is described concisely with online illustrations."