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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. "

"This book shows how, through certain geometric transformations, some of the standard joints used in parallel robots can be replaced with lockable or non-holonomic joints. These substitutions allow for reducing the number of legs, and hence the number of actuators needed to control the robot, without losing the robot's ability to bring its mobile platform to the desired configuration. The kinematics of the most representative examples of these new designs are analyzed and their theoretical features verified through simulations and practical implementations. "

"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. "

"Penggunaan teknologi mobile robot pada alat kesehatan sangat diperlukan, terutama dalam pemindahan pasien dari satu ruangan ke ruangan lainnya. Petugas kesehatan sering mengalami risiko cidera ketika mendorong ranjang, seperti sakit pada bagian punggung bawah, bahu, dan gangguan musculoskeletal lainnya. Telah dikembangkan teknologi mobile robot yang dapat diaplikasikan pada ranjang rumah sakit yang sudah tersedia, yaitu mengganti roda kastor menjadi modul swerve drive. Modul ini memiliki kemampuan bergerak secara omnidirectional sehingga memudahkan bermanuver di ruangan yang sempit dan dinamis. Untuk mengurangi biaya dan kompoleksitas, pengembangan dilakukan dengan mengurangi jumlah modul menjadi dua dengan menggunakan dua buah roda kastor bawaan ranjang tanpa mengorbankan kemampuan pergerakan holonomik. Selain itu juga diterapkan perubahan motor steering menggunakan motor servo untuk dapat mempertahankan sudut putar roda. Untuk menguji kemampuan dari prototipe ranjang rumah sakit ini, dilakukan dua pengujian yaitu uji gerak lurus dan uji gerak rotasi dengan menggunakan bantuan ArUco marker untuk melakukan pengukuran simpangan gerak. Berdasarkan hasil pengujian diperoleh hasil bahwa prototipe ranjang rumah sakit lebih bisa bergerak lurus dibanding prototipe sebelumnya dengan peningkatan kemampuan sebesar 83.53%, namun hasil uji gerak rotasi menunjukkan tidak ada perbedaan signifikan di antara kedua prototipe karena hanya terjadi peningkatan sebesar 25.02%.

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The use of mobile robot technology in medical equipment is highly necessary, particularly for transferring patients from one room to another. Healthcare workers often face the risk of injury when pushing beds, such as lower back pain, shoulder pain, and other musculoskeletal disorders. A mobile robot technology has been developed that can be applied to existing hospital beds by replacing the caster wheels with swerve drive modules. These modules have omnidirectional movement capabilities, making it easier to maneuver in tight and dynamic spaces. To reduce costs and complexity, the development has been done by reducing the number of modules to two, using two of the bed’s original caster wheels without sacrificing holonomic movement capabilities. Additionally, steering motor adjustments have been made using servo motors to maintain the wheel’s turning angle. To test the capabilities of this hospital bed prototype, two tests were conducted: a straight movement test and a circular movement test, using ArUco markers to measure motion deviations. The test results showed that the hospital bed prototype could move straighter compared to the previous prototype with an improvement of 83.53%, but the circular movement test showed no significant difference between the two prototypes, with only a 25.02% improvement."

"Compensating for quasi-periodic motion in robotic radiosurgery outlines the techniques needed to accurately track and compensate for respiratory and pulsatory motion during robotic radiosurgery. The algorithms presented within the book aid in the treatment of tumors that move during respiration. In Chapters 1 and 2, the book introduces the concept of stereotactic body radiation therapy, motion compensation strategies and the clinical state-of-the-art. In Chapters 3 through 5, the author describes and evaluates new methods for motion prediction, for correlating external motion to internal organ motion, and for the evaluation of these algorithms’ output based on an unprecedented amount of real clinical data. Finally, Chapter 6 provides a brief introduction into currently investigated, open questions and further fields of research. "

"This book is of interest to researchers inquiring about modern topics and methods in the kinematics, control and design of robotic manipulators. It considers the full range of robotic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained. In addition to recognized areas, this book also presents recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, and the analysis, modeling and simulation of human body motions, as well as the mobility analysis of protein molecules and the development of machines which incorporate man. "

"Rancangan sistem kontrol lengan robot dengan menggunakan sinyal elektromiogram (EMG) telah dibuat dengan elektroda permukaan sebagai transduser. Sinyal EMG diolah dengan sistem pengolahan sinyal dan diakuisisi dengan menggunakan mikrokontroler H8/3069F . Data pengamatan ditampilkan dalam bentuk Graphical User Interface (GUI) yang dibuat dengan bahasa pemrograman Python dan disimpan dalam database Microsoft Access. Kontrol lengan robot dilakukan berdasarkan gerakan fleksi-ekstensi pergelangan tangan. Sinyal EMG dikarakterisasi berdasarkan root mean square (RMS) sehingga sinyal EMG dapat diklasifikasikan. Gerakan fleksi memiliki RMS antara 0.01 - 0.13 V dan gerakan ekstensi memiliki RMS antara 0.69 - 1.19 V. Sinyal EMG yang telah diklasifikasi ini digunakan sebagai input untuk mengontrol servo motor pada lengan robot.

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Designing control system of arm robot using electromyiogram (EMG) signal have been made with surface electrode as tranducer. EMG signal is processed by signal conditoning system dan acquired by microcontroller H8/3069F. Recording EMG signal is displayed on Graphical User Interface (GUI) with Python as programming language and stored in Microsoft Access database. Arm robot is controlled by flexion-extension of wrist joint movements. Extract feature EMG signal is determined by root mean square (RMS). RMS for each movements is vary, 0.01 - 0.13 V for flexion and 0.69 - 1.19 V for extension. These classification feature of EMG signal is used to control servo motor of arm robot."

"Skripsi ini membahas mengenai perancangan mobile robot pelontar Frisbee berdasarkan spesifikasi pada peraturan kontes ABU Robocon tahun 2017. Sehingga Frisbee yang digunakan sebagai acuan pada skripsi ini juga berdasarkan dari peraturan yang dibuat oleh ABU Robocon. ABU Robocon merupakan kontes robot tahunan yang diselenggarakan oleh Kesatuan Penyiaran Asia-Pasifik. Peraturan dan tempat diselenggarakan kontes ini selalu berubah-ubah setiap tahunnya. Pada tahun ini diselenggarakan di Jepang dan tema yang diambil berasal dari permainan Tosenkyo. Pada awalnya, Tosenkyo merupakan permainan untuk melempar kipas lipat. Akan tetapi pada kontes ini, barang yang dilempar tersebut diganti menjadi sebuah Frisbee. ABU Robocon merupakan sebuah kontes internasional. Tim Robot UI Universitas Indonesia harus bersaing didalam negeri melalui kontes yang bernama KRAI Kontes Robot ABU-Robocon Indonesia.Oleh karena itu tujuan dari skripsi ini adalah untuk merancang sistem pelontar Frisbee beserta mobilisasinya. Penjelasan dibagi secara mekanis, elektris, programming, dan sistem kendali. Tidak hanya itu analisis gerak Frisbee serta mobilisasi robot menggunakan teknik odometri juga dibahas pada skripsi ini. Gerak mobilisasi robot berupa gerak holonomic menggunakan roda mekanum berjumlah 4 buah. Banyaknya penggunaan motor DC pada perancangan robot ini memerlukan sebuah teknik kendali berupa PID Proportional Integral Derivative untuk mengendalikan kecepatan putar motornya. Untuk mengendalikan satu motor DC diperlukan mikrokontroler tersendiri dan menyebabkan mikrokontroler yang digunakan mencapai tujuh buah, sehingga teknik koordinasi ketujuh mikrokontroler juga dibahas. Pembahasan skripsi ini pun meluas dan membahas mengenai sistem komunikasi serial master-slave. Rancangan robot yang dibuat pada skripsi bukan robot otomatis, robot masih perlu dikendalikan secara manual oleh operator.

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This thesis discusses the design of mobile robot Frisbee launcher based on specification in ABU Robocon contest rules of 2017. The Frisbee used as a reference is also based on the rules made by ABU Robocon. ABU Robocon is an annual robot contest organized by the Asia Pacific Broadcasting Union. The rules and venues of this contest are always changing every year. This year, the contest is held in Japan and the theme is taken from the Tosenkyo game. At first, Tosenkyo is a game to throw a folding fan. However, in this contest, the thrown item is changed into a Frisbee. ABU Robocon is an international contest. The UI Universitas Indonesia robotics team still needs to compete domestically through a contest named KRAI Kontes Robot ABU Robocon Indonesia.Therefore the purpose of this thesis is to design the Frisbee thrower system along with its mobilization. The discussion is divided into mechanically, electrically, programming, and its control systems. Frisbee motion analysis and robot mobilization using odometry technique will also be discussed. The motion of robot mobilization in the form of holonomic motion using 4 mecanum wheels. The amount of use of DC motors in designing this robot requires a control technique in the form of PID Proportional Integral Derivative to control the rotational speed of the motor. To control each DC motor required one microcontroller so that in the design of this robot, it required to use 7 microcontrollers, therefore the coordination of these microcontrollers are also discussed such as the master slave serial communication system. The design of the robot is not an automatic robot, it still need to be controlled manually by an operator."

"Dalam kehidupan sehari-hari tak jarang ditemukan pekerjaan yang membutuhkan lebih dari satu orang dalam penyelesaiannya. Konsep tersebut diadaptasikan ke penyelesaian tugas kompleks untuk sistem otonomi dengan lebih dari satu mobile robot atau disebut juga mobile robot kooperatif. Dalam mengakomodasi sistem mobile robot kooperatif yang baik, beberapa aspek perlu diperhatikan terutama komunikasi antar anggotanya.Pada skripsi ini, mobile robot akan dirancang dengan menggunakan trayektori linier dan sinusoidal sebelum antar robotnya dikomunikasikan untuk bertukar informasi. Sistem meggunakan protokol komunikasi nirkabel internet socket sebagai media pertukaran informasi antar robotnya sehingga pengujian terhadap komunikasi juga perlu dilakukan.Berdasarkan hasil pengujian dapat diketahui bahwa setiap mobile robot mempunyai karakteristik dan pergerakan yang berbeda satu sama lain tetapi masih dapat dikendalikan dengan menggunakan nilai pengendali yang sama. Hasil pengujian juga menunjukkan bahwa komunikasi dengan internet socket sudah dapat digunakan dalam aplikasi mobile robot komunikatif.

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In daily life, a lot of tasks need more than one people to complete because of it complexity. The concept of using more hand to complete a complex problems is adapted in autonomous system that used more than one robot which often defined as cooperative robot. In order to accommodate a good cooperative mobile robot system, interrobot communication should be carefully designed.In this script, the mobile robot would be design while using linear and sinusoidal trajectory to test whether before being communicated between each other.

The system using wireless internet socket communication protocol as the information exchange's media between the robots, therefore an experiment need to be done to test the communication as well.Accordintg to experiment done, the result show that each robot has its own characteristic and movement dyamics. However, the differences are still tolerable and still can be controlled using the same controllers'constans.The experiment also show that internet socket communication is proven to be able implemented in communicative mobile robots."