02 Oct - 04 Oct 2023

FLORIANÓPOLIS - BRAZIL

Technical ProgramWelcome to CLAWAR 2023
It is our pleasure to welcome you all to the CLAWAR 2023 conference, held in Florianópolis, Santa
Catarina, Brazil during 02 – 04 October 2023. CLAWAR 2023 is the 26th edition of the International
Conference series on Climbing and Walking Robots and the Support Technologies for Mobile
Machines and brings new developments and new research findings in robotics technologies within theframework of “Synergetic Cooperation between Robots and Humans”. The conference's technicalprogramme includes three keynote presentations, given by well-known scientists in their fields ofresearch, and 54 original articles with cutting-edge scientific findings in a wide range of topics related
to the rapidly evolving areas of robotics. We hope that CLAWAR 2023 will enable delegates toexchange research ideas and establish collaborative networks for the advancement of science andknowledge discovery in the field of robotics and associated technologies, for a sustainable future.
The CLAWAR 2023 proceedings are published by Springer in their book series in “Lecture Notes in
Networks and Systems”, which is indexed in Web of Science, dblp, and SCOPUS. This book isbelieved to be a source of inspiration and further innovation in research and development in the
rapidly growing area of mobile service robotics.
We would like to thank members of the International Scientific Committee and National Organising
Committee of CLAWAR 2023 for their efforts in reviewing the submitted articles, and for theirsupport in the planning and organisation of the conference.
Ebrahim Samer El Youssef & M. Osman Tokhi
General Co-Chairs, CLAWAR 2023

2

CLAWAR 2023 Conference Organization
General Co-Chairs
Ebrahim Samer El youssef, Universidade Federal de Santa Catarina - Brazil
Mohammad Osman Tokhi, London South Bank University, United Kingdom

International Scientific Committee Co-Chairs
Leonardo Mejia Rincon, Universidade Federal de Santa Catarina - Brazil
Manuel F. Silva, ISEP & INESC TEC, Portugal

International Advisory Committee Chair
Gurvinder S. Virk, CLAWAR Association, United Kingdom

National Organizing Committee
Leonardo Mejia Rincon, Universidade Federal de Santa Catarina - Brazil
Daniel Alejandro Ponce Saldias - Universidade Federal de Santa Catarina - Brazil
Patricia Della Méa Plentz - Universidade Federal de Santa Catarina - Brazil
Edson Roberto De Pieri - Universidade Federal de Santa Catarina - Brazil
Daniel Martins - Universidade Federal de Santa Catarina - Brazil

Publications
Ebrahim Samer El youssef, Universidade Federal de Santa Catarina - Brazil
M. Osman Tokhi, London South Bank University, United Kingdom
Leonardo Mejia Rincon, Universidade Federal de Santa Catarina - Brazil
Manuel F. Silva, ISEP & INESC TEC, Portugal

Special/Workshop Sessions Chair
Khaled M. Goher, University of Nottingham, UK

Local Arrangements Chair
Ebrahim Samer El youssef, Universidade Federal de Santa Catarina - Brazil

Social Program
Ebrahim Samer El youssef, Universidade Federal de Santa Catarina - Brazil
Daniel Alejandro Ponce Saldias

Sponsorship
Kind Humanoid
UnitreePublicity Co-Chairs
Abdullah Almeshal, College of technological studies, Kuwait
Aman Kaur, London South Bank University, United Kingdom

Web-site Co-Chairs
Louie Webb, London South Bank University, United Kingdom
Patricia Della Méa Plentz - Universidade Federal de Santa Catarina - Brazil
Abdullah Almeshal, College of Technological Studies, Kuwait

International Scientific Committee
Dehghani-Sanij, A.
Burlacu, A.
Yigit, A.

- United Kingdom- Romania- Kuwait

Degani, A.
Eguchi, A.
Dias, A.

3

- Israel- United States- Portugal

Conceicao, A. G. S. - Brazil
Faina, A.
- Denmark
Bonilla, A. A. C.
- BrazilFriebe, A.
- Sweden
Jamali, A.
- Malaysia
Mendes, A.
- Portugal
Nunuparov, A.
- Russian Federation
Visser, A.
- Netherlands
Roccia, B.
- Argentina
Bridge, B.
- United Kingdom
Alkan, B.
- United Kingdom
Chevallereau, C.
- France
Grand, C.
- France
Semini, C.
- Italy
Monje, C. A.
- Spain
Santos, C. M. P.
- Portugal
Chugo, D.
- JapanMartins, D.
- Brazil
Paraforos, D.
- Germany
Chrysostomou, D.
- DenmarkLefeber, D.
- Belgium
Belter, D.
- Poland
Bertol, D. W.
- Brazil
Murai, E. H.
- Brazil
Briskin, E.
- Russian Federation
Bonsignorio, F.
- Italy
Ben Amar, F.
- France
Rodríguez Lera, F. J. - Spain
Gallegos Garrido, G. - United Kingdom
Muscato, G.
- Italy
Reina, G.
- Italy
Li, G.
- United Kingdom
Raffo, G.
- BrazilLeon-Rodriguez, H. - Colombia
Montes Franceschi, H.
- Panama
Simas, H.
- Brazil
Park, H. S.
- South Korea
Su, H.
- ChinaRodríguez, H.
- Panama
Banfield, I.
- Panama
Darus, I. Z. M.
- Malaysia
Doroftei, I.
- Romania
Ion, I.
- Romania
Figueiredo, J.
- Portugal
Sequeira, J.
- Portugal
Cascalho, J.
- Portugal

Röning, J.
Frantz, J. C. Wu, J.
Hwang, K.
Berns, K.
Goher, K.
Gwak, K-W.
Marques, L.
Armada, M.
Petry, M.
Costa, M. T.
Ribeiro, M.
Vainio, M.
Pinto, M.
Xie, M.
Hassan, M. K.
Kottege, N.
Bolotnik, N.
Farias, P.
Ferreira, P.
Drews-Jr, P.
Guedes, P.
Lima, P. U.
Bidaud, P.
Skrzypczynski, P.
Manoonpong, P.
Massoud, R.
Zaier, R.
Pandey, R.
Simoni, R.
Fernandez, R.
Dillmann, R.
Rocha, R. P.
Ahmad, S.
Yatsun, S.
Moon, S.
Yokota, S.
Mondal, S.
Toha, S. F.
Nakamura, T.
Zielinska, T.
Moreno, U.
Pinto, V. H.
Ozkan-Aydin, Y.
Mohamed, Z.
Zhao, Z.

4

- FinlandBrazil- China- Taiwan- Germany- United Kingdom- South Korea- Portugal- Spain- Portugal- Portugal- Portugal- Finland- Brazil- Singapore- Malaysia- Australia- Russian Federation- Brazil- Portugal- Brazil- Portugal- Portugal- France- Poland- Denmark- Syria- Oman- India- Brazil- Spain- Germany- Portugal- Malaysia- Russian Federation- South Korea- Japan- United Kingdom- Malaysia- Japan- Poland- Brazil- Portugal- United States- Malaysia- United Kingdom

CLAWAR 2023 Technical Programme
Monday 02 October 2023
Time: 08:00 – 10:00 (GMT-3)
08:00-09:00

Conference Registration

09:00-09:20

Opening Session

Keynote Address – 1
Session Chair: Mohammed Osman Tokhi
Room: CC I
Time: 09:20 – 10:20 (GMT-3)
Time

Paper
ID

Proc
Page

09:20-10:20

KS1

10:20-10:40

Coffee break

Presentation
BIPED WALKING WITH ROBOTS AND EXOSKELETONS:MARCHING TOWARDS BIONIC GAIT
Arturo Forner-Cordero

Session M1: Special Session: Robotics and Neurotechnologies for Healthcare Improvements I
Session Chair: Arturo Forner-Cordero and Daniel Alejandro Ponce Saldias
Room: CC I
Time: 10:40-12:20 (GMT-3)
Time

Paper
ID

10:40-11:00#11FPGA-Based emulation of a muscle stretch reflex on an electricseries elastic actuator
Oleksandr Sivak, Patrick Vonwirth and Karsten Berns#14

Neural Multimodal Control for Versatile Motion Generation andContinuous Transitions of a Lower-limb Exoskeleton
Chaicharn Akkawutvanich, Natchaya Sricom and Poramate
Manoonpong#17

Positional Health Assessment of Collaborative Robots based onLong Short-Term Memory Auto-Encoder (LSTMAE) Network
Naimul Hasan, Louie Webb, Malarvizhi Kaniappan Chinanthai,Mohammad Al-Amin Hossain, Erkan Caner Ozkat, Osman M.
Tokhi and Bugra Alkan

11:00-11:20

11:20-11:40

Proc
Page

Presentation

5

#22

HUMAN-EXOSKELETON INTERACTION DURING KNEEFLEXION-EXTENSION UNDER DIFFERENTCONFIGURATIONS OF ROBOT ASSISTANCE-RESISTANCE
Denis Mosconi, Yecid Moreno and Adriano Siqueira

12:00-12:20#42

WALKING ON VIRTUAL SURFACE PATTERNS CHANGESMUSCULAR ACTIVITY
Maximilian Stasica, Kai Streiling, Celine Honekamp, Alexandra
Schneider, Alexandros Exarchos, Saskia Henschke, Suat
Pirincoglu, Melike Polat, Neele Scholz, Carina Stähler, Emma
Syring, Loes van Dam and André Seyfarth

12:20-13:30

Lunch

11:40-12:00

Session M2: Special Session: Robotics and Neurotechnologies for Healthcare Improvements II
Session Chair: Daniel Alejandro Ponce Saldias
Room: CC I
Time: 13:30– 14:30 (GMT-3)
Time

Paper
ID

Proc
Page

Presentation

13:30-13:50#51

TOWARDS A GAIT PLANNING TRAINING STRATEGYUSING LOKOMAT
Thayse de Albuquerque, Lucas da Costa, Ericka da Silva,
Geovana Rocha, André Felipe Dantas, Caroline Santos andDenis Rodriguez

13:50-14:10#59

EXPLORING BEHAVIOURS FOR SOCIAL ROBOTS
Joana Sá and João Silva Sequeira#68

ASSISTIVE WALKER WHICH STABILIZES THE USER'SPOSTURE AND PREVENT FALLS THROUGH ABNORMALGAIT PATTERN RECOGNITION
Daisuke Chugo, Yao Li, Satoshi Muramatsu, Sho Yokota, Jin-Hua
She and Hiroshi Hashimoto

14:10-14:30

Session M3: Simulation and Digital-Twins in Robotics Applications
Session Chair: Manuel F. Silva
Room: CC I
Time: 14:30 – 15:30 (GMT-3)
Time

14:30-14:50

Paper
ID

#20

Proc
Page

Presentation
A SOLUTION ARCHITECTURE FOR ENERGYMONITORING AND VISUALISATION IN SMART
FACTORIES WITH ROBOTIC AUTOMATION
Louie Webb, Osman M Tokhi and Bugra Alkan

6

#31

LOCOSIM: AN OPEN-SOURCE CROSS-PLATFORM
ROBOTICS FRAMEWORKMichele Focchi, Francesco Roscia and Claudio Semini

15:10-15:30#53

A LOCOMOTION ALGORITHM FOR AN APODAL ROBOTTO CLIMB AND DESCEND STEPS
Vitor Hugo Prado Gomes, Thiago de Deus Lima Rocha, Carla
Maria Chagas E Cavalcante Koike and Dianne Magalhães Viana

15:30-15:50

Coffee break

14:50-15:10

Session M4: Special Session: Hybrid and Convertible Unmanned Aerial Vehicles
Session Chair: Guilherme Vianna Raffo
Room: CC I
Time: 15:50-18:10 (GMT-3)
Time

15:50-16:10

16:10-16:30

16:30-16:50

16:50-17:10

17:10-17:30

Paper
ID

Proc
Page

Presentation#33

SINGLE-SEGMENT ANALYSIS FOR THE PERFORMANCEOPTIMIZATION OF A TILT-ROTOR ALL-ELECTRIC RPAS.
PROVANT EMERGENTIA PROJECTÁlvaro Martínez, Sergio Esteban and Antonio Franco#35

PARAMETRIC AERODYNAMIC STUDY OF A
CONVERTIBLE AIRCRAFT USING CFD TOOLS. PROVANTEMERGENTIA PROJECT.
Samuel Torres and Sergio Esteban#36

WIND TUNNEL STUDY OF A VTOL-UAV AND ITS V-TAIL
FOR ITS LONGITUDINAL AND DIRECTIONAL
AERODYNAMIC CHARACTERISATION. PROVANTEMERGENTIA PROJECT
Paula Callejo-Hernando, Claudia Pérez-Rus and Sergio Esteban#40

JOINT STATE-PARAMETER OBSERVER-BASED ROBUSTCONTROL OF A UAV FOR HEAVY LOAD
TRANSPORTATION
Brenner S. Rego, Daniel N. Cardoso, Marco H. Terra andGuilherme V. Raffo#41

A ROBUST NONLINEAR FLIGHT CONTROL IN THE
WEIGHTED SOBOLEV SPACE FOR A QUADTILTROTORUAV
Jonatan M. Campos, Daniel N. Cardoso and Guilherme V. Raffo7

17:30-17:50

17:50-18:10#62

PROTOTYPING OF A SEALING CAP FOR A HYBRID
UNMANNED AERIAL UNDERWATER VEHICLE WITH
ONBOARD INSTRUMENTATION
Adir Junior, Andressa Cavalcante da Silva, Matheus Gonçalves,
Ricardo Grando, Guilherme Oliveira, Pedro Corçaque, Thássio
Silva and Paulo Drews#64

VISUAL SENSORS BENCHMARK FOR DEVELOPMENT OFA AUTONOMOUS NAVIGATION SETUP FOR A HYBRID
UNMANNED AERIAL UNDERWATER VEHICLE.
Matheus Gonçalves, Pedro Corçaque, Adir Junior, Andressa
Silva, Guilherme Oliveira, Gustavo Almeida, Thássio Silva,
Rodrigo Guerra and Paulo Drews

8

Tuesday 03 October 2023
Time: 08:00 – 09:00 (GMT-3)
08:00-09:00

Conference Registration

Keynote Address – 2
Session Chair: Bryan Bridge
Room: CC I
Time: 09:00 – 10:00 (GMT-3)
Time

Paper
ID

Proc
Page

09:00-10:00

KS2

10:00-10:20

Coffee break

Presentation

HUMAN-LIKE BIPEDAL LOCOMOTION
Karsten Berns

Session – T1: Special Session: Robotic navigation
Session Chair: André Gustavo Scolari Conceição
Room: CC I
Time: 10:20 – 12:20 (GMT-3)
Time

10:20-10:40

10:40-11:00

11:00-11:20

11:20-11:40

Paper
ID

Proc
Page

Presentation#19

A COOPERATIVE APPROACH TO TELEOPERATION
THROUGH GESTURES FOR MULTI-ROBOT SYSTEMS
Dieisson Martinelli, Jonathan Cerbaro, Marco Teixeira, Vivian
Kalempa, Vitor Monteiro and André Oliveira#38

NAVPI: AN ADAPTIVE LOCAL PATH-PLANNING PIPELINE
FOR 3D NAVIGATION IN DIFFICULT TERRAIN
Marvin Grosse Besselmann, Arne Roennau and Ruediger
Dillmann#43

INDOOR LOCALISATION OF MOBILE ROBOTS WITHULTRA WIDEBAND USING EXPERIMENTAL TDOA
Ousmane Abdoulaye Oumar, Mohammad Osman Tokhi, Tariq P
Sattar, Sidik Haroune Ibrahim and Shwan Dyllon#50

AUTONOMOUS HUMAN–ROBOT PROXEMICS: SOCIALLY
AWARE NAVIGATION BASED ON INTERACTION
Giovane Moreira, Anderson Leite, José Díaz-Amado, Cleia
Libarino and João Marques911:40-12:00#61

COMPARATIVE ANALYSIS OF LIDAR SLAMTECHNIQUES IN SIMULATED ENVIRONMENTS IN ROSGAZEBO
Marcelo E. C. de Carvalho, Tiago Trindade Ribeiro and Andre
Gustavo Scolari Conceicao

12:00-12:20#65

INSTANCE SEGMENTATION TO PATH PLANNING IN A
SIMULATED INDUSTRIAL ENVIRONMENT
Danilo G. Schneider and Marcelo R. Stemmer

12:20-13:30

Lunch

Session – T2: Special Session: Legged Robots: From foundations to current challenges andperspectives I
Session Chair: Thiago Boaventura
Room: CC I
Time: 13:30 – 15:30 (GMT-3)
Time

Paper
ID

Proc
Page

Presentation#8

WALKING MOTION GENERATION OF BIPEDAL ROBOTBASED ON PLANAR COVARIATION USING DEEP
REINFORCEMENT LEARNING
Junsei Yamano, Masaki Kurokawa, Yuki Sakai and Kenji
Hashimoto#9

LEG MECHANISM OF A QUADRUPED WHEELEDROBOT WITH A 4-DOF SPHERICAL PARALLEL LINKMECHANISM
Taisei Suzuki, Hayato Ota, Hiroki Takenaka, Takayuki Tanaka,
Yuta Ishizawa and Kenji Hashimoto

14:10-14:30#10

THREE-RIGID-BODY MODEL BASED NMPC FOR
BOUNDING OF A QUADRUPED WITH TWO SPINALJOINTSSongrui Huang, Wenhan Cai and Mingguo Zhao

14:30-14:50#16

ACTIVELY VARIABLE TRANSMISSION ROBOTIC LEG
Giorgio Valsecchi, Fabian Tischhauser, Jonas Junger, Yann
Bernarnd and Marco Hutter#23

FREELANDER: A VERSATILE, MODULAR, MULTILEGGED ROBOT PLATFORM FOR COMPLEX TERRAINS
Thirawat Chuthong, Jettanan Homchanthanakul, Binggwong
Leung, Suppachai Pewkliang and Poramate Manoonpong

13:30-13:50

13:50-14:10

14:50-15:10

10

15:10-15:30

15:30-15:50

A TWO-LEGGED ROBOT FOR CLIMBING VERTICALSURFACES BASED ON PRESSURE-SENSITIVEADHESION AND PEELING
Mani Sankar Kadali, Anugrah Ak and Atul Thakur#44

Coffee break

Session – T3: Special Session: Legged Robots: From foundations to current challenges andperspectives II
Session Chair: Victor Barasuol
Room: CC I
Time: 15:50 – 16:50 (GMT-3)
Time

15:50-16:10

16:10-16:30

16:30-16:50

Paper
ID

Proc
Page

Presentation#54

PLANAR MOTION CONTROL OF A QUADRUPED ROBOT
Gabriel Duarte Gonçalves Pedro, Thiago Boaventura Cunha,
Pedro Américo Almeida Magalhães Júnior and Gustavo
Medeiros Freitas#66

STAIR-CLIMBING CHARTS: ON THE OPTIMAL BODYHEIGHT FOR QUADRUPED ROBOTS TO WALK ON
STAIRS
Victor Barasuol, Sinan Emre and Claudio Semini#67

IMPEDANCE CONTROL ANALYSIS FOR LEGGED
LOCOMOTION IN OSCILLATING GROUND
Vivian Suzano Medeiros, Felix Mauricio Escalante, Marcelo
Becker and Thiago Boaventura

Session – T4: Climbing and inspection robots
Session Chair: Tareq Sattar
Room: CC I
Time: 16:50 – 18:10 (GMT-3)
Time

16:50-17:10

Paper
ID

#12

Proc
Page

Presentation
ANALYSIS OF THE INFLUENCE OF HUMAN EXPOSURE
TO RISK AND ESG AS MOTIVATORS FOR THE
IMPLEMENTATION OF CLIMBING
AND MOBILE ROBOTS
Doglas Negri, Amanda Fusinato, Felipe Faria, Valéria Luz,
Thiago Moser, Ismael Secco and Luís Gonzaga Trabasso

11

17:10-17:30

17:30-17:50

17:50-18:10#24

MOBILITY STRATEGY OF MULTI-LIMBED CLIMBINGROBOTS FOR ASTEROID EXPLORATION
Warley F. R. Ribeiro, Kentaro Uno, Masazumi Imai, Koki
Murase, Barış Can Yalçın, Matteo El Hariry, Miguel A.
Olivares-Mendez and Kazuya Yoshida#48

LOW-COST PROTOTYPE FOR ANALYSIS AND
MONITORING OF UNDERWATER STRUCTURES
Guilherme Oliveira, Paulo Evald, Matheus Mateus, Pedro
Corçaque, Adir Pedroso-Jr, Andressa Silva, Gustavo Almeida,
Thássio Silva, Paulo Drews-Jr and Jorge Arigony-Neto#60

HYBRID OMNIDIRECTIONAL WHEELED CLIMBINGROBOT WITH AN ELECTROMAGNET FOR INSPECTION
Kanut Tarapongnivat, Run Junna, Worameth Nantareekurn,
Wasuthorn Ausrivong, Arthicha Srisuchinnawong, Naris
Asawalertsak, Suppachai Pewkliang and Poramate
Manoonpong

Session – T5: Kind Humanoid
Session Chair: Christoph Kohstall
Room: CC I
Time: 18:10 – 18:30 (GMT-3)
Time

Paper
ID

18:10-18:30

#SP1

Proc
Page

Presentation

KIND HUMANOID
Christoph Kohstall

Workshop - T1: Legged Robots: From Foundations to Current Challenges and Perspectives
Session Chair: Thiago Boaventura
Room: CC II
Time: 10:20 – 12:20 (GMT-3)
Time

Paper
ID

Proc
Page

10:20-10:50#WS1

WELCOME + INTRO: LEGGED ROBOTICS IN BRAZIL
Thiago Boaventura

10:50-11:20#WS2

LEGGED ROBOTS CONTROL
Vivian Suzano Medeiros

Presentation12

11:20-11:50#WS2

QUADRUPED ROBOTS: FROM MECHANICAL DESIGNTO THE USE OF ARTIFICIAL INTELLIGENCE
Victor Barasuol

11:50-12:20#RT1

ROUND TABLE: GUIDED DISCUSSION + Q&A

20:00-23:00

Dinner Banquet – Majestic Palace Hotel
Address: Avenida Beira Mar Norte, 2746

13

Wednesday 04 October 2023
Time: 08:00 – 09:00 (GMT-3)
08:00-09:00

Conference Registration

Keynote Address – 3
Session Chair: Ebrahim Samer El Youssef
Room: CC I
Time: 09:00 – 10:00 (GMT-3)
Time

Paper
ID

Proc
Page

09:00-10:00

KS3

10:00-10:20

Coffee break

Presentation
MULTIBODY DYNAMICS WITH CONTACT-IMPACT
EVENTS: ROOTS, MODELS AND APPLICATIONSPaulo Flores

Session – Session W1: Planning and control
Session Chair: Leonardo Mejia Rincon
Room: CC I
Time: 10:20 – 12:40 (GMT-3)
Time

Paper
ID

Proc
Page

Presentation#1

BIPEDAL WALKING ROBOT CONTROL USING PMTG
ARCHITECTURE
Vladimir Danilov, Konstantin Klimov, Dmitrii Kapytov and Sekou
Diane

10:40-11:00#3

ADAPTIVE SUSPENSION SYSTEM POSITION-FORCECONTROL OF WHEELED WALL-PRESSED IN-PIPE
CLIMBING ROBOTSergey Jatsun and Andrei Malchikov

11:00-11:20#13

OBERVER-BASED CONTROL MODEL TEST IN BIPEDROBOTJoão Carvalho and Mauricio Eiji Nakai#29

NONLINEAR MODEL PREDICTIVE CONTROL AND
REINFORCEMENT LEARNING FOR CAPSULE-TYPE
ROBOT WITH AN OPPOSING SPRING
Nikita Syrykh and Armen Nunuparov

10:20-10:40

11:20-11:40

14

#34

NEURAL CONTROL AND LEARNING OF A GECKOINSPIRED ROBOT FOR AERIAL SELF-RIGHTING
Leonard Chanfreau, Worasuchad Haomachai and Poramate
Manoonpong

12:00-12:20#39

DOUBLE GRADIENT METHOD: A NEW OPTIMIZATIONMETHOD FOR THE TRAJECTORY OPTIMIZATIONPROBLEM.
Alam Rosato Macêdo, Ebrahim Samer El Youssef and Marcus V.
Americano da Costa

12:20-12:40#49

FORMATION TRACKING CONTROL OF MULTIPLE UAVSIN THE PRESENCE OF COMMUNICATION FAULTS
Thamiris Lima Costa, Ebrahim El'Youssef and Edson De Pieri

12:40-13:50

Lunch

11:40-12:00

Session – Session W2: Special Session: Multibody Systems and Mechanism Design in Robotics
Session Chair: Estevan Hideki Murai
Room: CC I
Time: 13:50 – 16:10 (GMT-3)
Time

13:50-14:10

14:10-14:30

14:30-14:50

14:50-15:10

Paper
ID

Proc
Page

Presentation#4

EFFICIENCY OPTIMIZATION OF THE GEAR REDUCER OFAN OVERHEAD POWER LINE INSPECTION ROBOTMarina Baldissera de Souza, Gustavo Queiroz Fernandes, Luís
Paulo Laus, Andrea Piga Carboni and Daniel Martins#15

A NEW METHOD OF CLIMBING ON A HIGH PLACE BY
ELASTICITY-EMBEDDED ROCKER-BOGIE VEHICLE
WITH DYNAMIC MOTIONS
Ryunosuke Takahashi, Ikuo Mizuuchi and Kimikage Kanno#18

MULTIDIMENSIONAL MAP: A CONCEPTUAL DESIGNTOOL TO DEVELOP ROBOTS FOR POWER LINES
Estevan Hideki Murai, Anderson José Balbino, Lauro Cesar
Nicolazzi, Thaís Muraro, Daniel Martins, Roberto Kinceler andAlessandro Pedro Dadam#21

TENSEGRITY APPROACHES FOR FLEXIBLE ROBOTS: A
REVIEW
Juan C. Guacheta-Alba, Angie J. Valencia-Castaneda, Max Suell
Dutra, Mauricio Mauledoux and Oscar F. Aviles

1515:10-15:30

15:30-15:50

15:50-16:10

16:10-16:30#47

ROBOTIC ARM DEVELOPMENT FOR A QUADRUPEDROBOTMaria Lopes, Antonio P. Moreira, Filipe Santos and Manuel
Silva

#55

WALKING ROBOT APPLIED TO THE TUBE INSPECTION
ACTIVITY
Esdras S. da Silva, Fernando V. Morlin, Leonardo G. da S.
Adami, Lucas J. Imanisi, Leonardo M. Rincon and DanielMartins#63

WRENCH CAPABILITY ANALYSIS OF A SERIALPARALLEL HYBRID LEG OF A DISNEY'S BIPEDAL ROBOT
Gustavo Queiroz Fernandes, Marina Baldissera de Souza,
Leonardo Mejia Rincon and Daniel Martins

Coffee break

Session – Session W3: Education in Robotics and Robotics in Education
Session Chair: Daniel Alejandro Ponce Saldias
Room: CC I
Time: 16:30 – 17:30 (GMT-3)
Time

Paper
ID

Proc
Page

Presentation#6

A DIDACTIC APPROACH TO ENERGY-BASED DYNAMIC
MODELING PART 1: LEAST ACTION, D’ALEMBERTPRINCIPLE AND EULERLAGRANGE FORMALISM
Claudio Ernesto Ponce Saldias and Daniel Alejandro Ponce
Saldias#45

ENERGY EFFICIENCY ANALYSIS OF DIFFERENTIAL AND
OMNIDIRECTIONAL ROBOTIC PLATFORMS: A
COMPARATIVE STUDYJoão Braun, Arezki Chellal, Luciano Bonza o, Milena Pinto,
Rebeca Kalberma er, Vinicius Grilo, Paulo Costa and José Lima

17:10-17:30#46

DESIGN AND DEVELOPMENT OF ANOMNIDIRECTIONAL MECANUM PLATFORM FOR THE
ROBOTATFACTORY 4.0 COMPETITION
João Braun, Kais Beide, Luciano Bonzatto, Guido Berger, Milena
Pinto, Rebeca Kalbermatter, Luan Klein, Ana Pereira, Paulo
Costa and José Lima

17:30-17:50

CLAWAR 2024

16:30-16:50

16:50-17:10

tt

tt

16

17:50-18:10

Closing Session17

Majestic Palace Hotel Map
Entrance – Avenida Beira Mar Norte, 2746
Conference Venue at Centro de Convenção I ( CC I) e Centro deConvenção II (CC II) - G2 Floor

1 ROOM CC1
2 ROOM CC2
3 REGISTRATION RECEPTION AND COFFEE BREAK (Foyer)
G2 SECOND FLOOR OF HOTEL LOBBY - ELEVATOR ACCESSE LUNCH WILL BE SERVED ON FLOOR E, WHICH IS JUST ABOVE FLOOR G2

18