7th International Conference on

Climbing and
Walking Robots
and the Support Technologies for Mobile Machines
September 22-24, 2004
MADRID - SPAIN
Final
Programme
Organised by the
Industrial Automation Institute of the
Spanish Council for Scientific Research
on behalf of the
EC GROWTH Thematic Network CLAWAR
Welcome by the Conference Chairmen





After the very successful Conferences of CLAWAR98 (Brussels), CLAWAR99 (Portsmouth),
CLAWAR00 (Madrid), CLAWAR01 (Karlsruhe), CLAWAR02 (Paris) and CLAWAR03
(Catania) we are now, on behalf of the EC GROWTH Thematic Network CLAWAR, in charge of
organising CLAWAR04, that will be held in Madrid (Spain) from 22-24 September 2004, hosted
by the Industrial Automation Institute of the Spanish Council for Scientific Research (IAI-CSIC).
Our conference is the seventh of a series of conferences sponsored by the European
Commission in the framework of a European Network on Climbing and Walking Robots
(CLAWAR), where most of research groups and industries in Europe dealing with these
subjects are working together.

The interest in climbing and walking robots has remarkably augmented over recent years. Novel
solutions for complex and very diverse application fields (exploration/intervention in severe
environments, personal services, emergency rescue operations, transportation, entertainment,
medical, etc.), has been anticipated by means of a large progress in this area of robotics.
Moreover, the amalgamation of original ideas and related innovations, the search for new
potential applications and the use of state of the art supporting technologies permit to foresee
an important step forward and a significant socio-economic impact of advanced robot
technology in the forthcoming years. In response to the technical challenges in the development
of these sophisticated machines, a significant research and development effort has to be
undertaken. It concerns embedded technologies (for power sources, actuators, sensors,
information systems), new design methods, adapted control techniques for highly redundant
systems, as well as operational and decisional autonomy and human/robot co-existence.

The European Commission is funding the CLAWAR Network. However, our aim as scientists
and industrialists in this exciting field of robotics, is not only to promote the knowledge and
applications of the complex mechatronic devices under development inside the EU and to show
how them can contribute to a competitive and sustainable growth in our countries, but to
disseminate our technology outside Europe and to be very receptive of what is being done all
around the world. Confirming this situation greatest interest has been received for CLAWAR04,
and after a careful reviewing procedure the conference finally accommodates 118 papers of
high quality, where the number of authors goes over 250. Papers and Members of International
Organising Committee account 26 countries, pointing out the high level of international activity
in this field that is continuously growing and where many new research groups are being set up
throughout the world.

As a summary of the conference it can be said that includes both state of the art and more
practical presentations dealing with implementation problems, support technologies and future
applications. A growing interest in passive locomotion is reflected by a very interesting number
of contributions, and some outstanding new climbing and walking robots are also included. The
conference is going together with a robot exhibition and the traditional climbing robot


Y Baudoin
CLAWAR98
(Brussels)

G S Virk
CLAWAR99
(Portsmouth)

M A Armada
CLAWAR00
CLAWAR04
(Madrid)

K Berns
CLAWAR01
(Karlsruhe)

P Bidaud
CLAWAR02
(Paris)

G Muscato
CLAWAR03
(Catania)
competition. Best Paper Award will be offered by Emerald: Industrial Robot: An international
Journal, and special issues of some of the foremost scientific journals on robotics will be
published after the conference (for more information please refer to the CLAWAR04 web site
(http://www.iai.csic.es/clawar04). Of major relevance is the commitment with our new editors,
Springer Verlag, that are in charge of the Conference Proceedings edition. In this occasion the
Proceedings will be mail ed to the registered participants after the Conference.

We would like to take this opportunity to thank all those involved in organising CLAWAR'04. To
the Plenary Speakers, to the International and National Organising Committees, to the
Sponsoring Organisations, and to the Authorities our acknowledgement for their invaluable help
and kind assistance. CLAWAR Network partners have been very supportive with their extensive
work in the backstage, promoting, widening and rationalising the CLAWAR technology, filling
existing gaps, defining new concepts and expanding the applications horizon of climbing and
walking robots. Their work has been fundamental for the preparation of this 7th Conference.
Special thanks are for the IAI-CSIC colleagues, for its Technical and Administrative Staff and for
the members of the Automatic Control Department, because without their invaluable assistance
CLAWAR04 would never been a sound reality.

We would like to welcome you to CLAWAR04 and wish you a fruitful scientific conference and a
nice stay in Madrid.

We are looking forward to meet you next year in London for CLAWAR05.

Yours sincerely,

Yvan Baudoin
Gurvinder S Virk
Manuel Armada
Karsten Berns
Philippe Bidaud
Giovanni Muscato


Plenary Session I
Plenary Session II
Opening Session
Session 1
CONTROL 1
Session 2
DESIGN 1
Session 3
SENSORS
Session 4
CONTROL 2
Session 5
DESIGN 2
Session 6
SENSORS, TELEOPERATION
AND TELEPRESENCE
POSTER SESSION, Robot Exhibition and Video, Climbing Robot Competition
Plenary Session III
Plenary Session IV
Session 7
CONTROL 3
Session 8
EFFICIENCY AND
ACTUATION
Session 9
HOPPING, BIPED AND
HUMANOID ROBOTS 1
Session 10
PASSIVE WALKING
Session 11
APPLICATIONS
Session 12
HOPPING, BIPED AND
HUMANOID ROBOTS 2
Session 13
PASSIVE WALKING
AND LOCOMOTION
Session 14
CLIMBING
Session 15
HOPPING, BIPED AND
HUMANOID ROBOTS 3
Plenary Session V
Session 16
INNOVATIVE SYSTEMS
Session 17
LOCOMOTION 2
Session 18
CLIMBING AND NAVIGATION
Close of Conference
W
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22

Robot Exhibition and Climbing Robot Competition
Coffee Break
Lunch Break
Coffee Break
Robot Exhibition and Video, Climbing Robot Competition
T
H
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R
S
D
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23

Coffee Break
Robot Exhibition and Climbing Robot Competition
Lunch Break
Coffee Break
Lunch
Coffee Break
F
R
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24

CLAWAR04 ROADMAP
Conference Dinner
09.00


10.00



11.15


12.00



14.00






16.15




18.15


19.00

09.00


09.45






11.00





14.00





16.15






18.35
21.00
09.00



10.00




12.15


CLAWAR 2004 FINAL PROGRAMME MADRID 22-24 SEPTEMBER
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CLAWAR04 CONFERENCE TIMETABLE

Tuesday 21 September 2004
17.00 19.30 Conference registration desk opening and exhibition set -up
Wednesday 22 September 2004
08.15 08.45 Conference registration
Room A Saln de Actos del CSIC. CSIC Headquarters Main Building
09.00 10.00 Opening Session
10.00 10.45 Plenary Session I
Prof. R. DILLMANN
BIOLOGICALLY MOTIVATED CONTROL OF WALKING
MACHINES
10.45 11.15 Coffee Break
11.15 12.00 Plenary Session II
Prof. R. MCNEILL ALEXANDER
PROBLEMS OF SCALE FOR WALKING AND
CLIMBING ANIMALS
12.00 13.00 Robot Exhibition and Climbing Robot Competition
13.00 14.00 Lunch Break
Room A Room B Room C
14.00 16.00 Session 1 Session 2 Session 3
16.00 16.15 Coffee Break
16.15 18.15 Session 4 Session 5 Session 6
18.15 19.00 Poster Session, Robot Exhibition and Video, Climbing Robot Competition
Thursday 23 September 2004
Room A Saln de Actos del CSIC. CSIC Headquarters Main Building
09.00 09.45 Plenary Session III
Prof. D A WINTER
WHAT BIPEDAL HUMAN LOCOMOTION CAN TEACH
US ABOUT MOTOR CONTROL SYNERGIES FOR
SAFE ROBOTIC LOCOMOTION
09.45 10.30 Plenary Session IV
Prof. A L RUINA
SOME MECHANICS PERSPECTIVES ON ROBOT
LOCOMOTION
10.30 11.00 Coffee Break + Robot Exhibition and Climbing Robot Competition
Room A Room B Room C
11.00 13.00 Session 7 Session 8 Session 9
13.00 14.00 Lunch Break
Room A Room B Room C
14.00 16.00 Session 10 Session 11 Session 12
16.00 16.15 Coffee Break
16.15 18.35 Session 13 Session 14 Session 15
18.35 19.15 Robot Exhibition and Video, Climbing Robot Competition
21.00 Conference Dinner
Friday 24 September 2004
Room A Saln de Actos del CSIC. CSIC Headquarters Main Building
09.00 09.45 Plenary Session 5
Prof. M XIE
ROBOT VISION: A HOLISTIC VIEW
09.45 10.00 Coffee Break
Room A Room B Room C
10.00 12.00 Session 16 Session 17 Session 18
Room A Saln de Actos del CSIC. CSIC Headquarters Main Building
12.15 13.00 Close of Conference
13.00 14.00 Lunch
CLAWAR 2004 FINAL PROGRAMME MADRID 22-24 SEPTEMBER
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Scientific Programme

Tuesday 21 September 2004
17.00 19.30 Conference registration desk opening and exhibition set-up

Wednesday 22 September 2004
08.15 08.45 Conference registration

09.00 10.00
Opening Session
Chairman
J M F LABASTIDA
VICE-PRESIDENT CSIC
Room A
Plenary Session I
Chairman G S VIRK
Room A
10.00 10.45
Prof. R. DILLMANN
BIOLOGICALLY MOTIVATED CONTROL OF WALKING MACHINES
10.45 11.15 Coffee Break
Plenary Session II
Chairman P GONZALEZ
Room A
11.15 12.00
Prof. R. MCNEILL ALEXANDER
PROBLEMS OF SCALE FOR WALKING AND CLIMBING ANIMALS
12.00 13.00 Robot Exhibition and Climbing Robot Competition
13.00 14.00 Lunch Break

Session 1
CONTROL 1
Chairman J ESTREMERA
Room A
14.00 14.20
INTEGER VS. FRACTIONAL ORDER CONTROL OF A HEXAPOD ROBOT
M F SILVA, J A TENREIRO MACHADO, A M LOPES
14.20 14.40
SYNCHRONOUS LANDING CONTROL OF A ROTATING 4-LEGGED ROBOT,
PEOPLER, FOR STABLE DIRECTION CHANGE
T OKADA, Y HIROKAWA, T SAKAI, K SHIBUYA
14.40 15.00
NEURO-CONTROLLERS FOR WALKING MACHINES - AN EVOLUTIONARY
APPROACH TO ROBUST BEHAVIOR
J FISCHER, F PASEMANN, P MANOONPONG
15.00 15.20
DECENTRALIZED DYNAMIC FORCE DISTRIBUTION FOR MULTI-LEGGED
LOCOMOTION
T ODASHIMA, Z W LUO
15.20 15.40
AN OUTDOOR VEHICLE CONTROL METHOD BASED BODY CONFIGURATION
INFORMATION
D CHUGO, K KAWABATA, H KAETSU, H ASAMA, T MISHIMA
15.40 16.00
IMPLEMENTATION OF A DRIVER LEVEL WITH ODOMETRY FOR THE LAURON III
HEXAPOD ROBOT
J L ALBARRAL, E CELAYA
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Session 2
DESIGN 1
Chairman G S VIRK
Room B
14.00 14.20
OPEN MODULAR DESIGN FOR ROBOTIC SYSTEMS
I CHOCHLIDAKIS, Y GATSOULIS, G S VIRK
14.20 14.40
MECHANICAL DESIGN OPTIMIZATION OF A WALKING ROBOT LEG USING
GENETIC ALGORITHM
C REYES, F GONZALEZ
14.40 15.00
KINEMATICS OF A NEW STAIRCASE CLIMBING WHEELCHAIR
R MORALES, A GONZLEZ, V FELIU, P PINTADO
15.00 15.20
DESIGN TOOLSET FOR REALISING ROBOTIC SYSTEMS
Y GATSOULIS, I CHOCHLIDAKIS, G S VIRK
15.20 15.40
DESIGN, DYNAMIC SIMULATION AND EXPERIMENTAL TESTS OF LEG
MECHANISM AND DRIVING SYSTEM FOR A HEXAPOD WALKING ROBOT
J ROCA, M NOGUES, S CARDONA
15.40 16.00
LIMB-MECHANISM ROBOT WITH WINCH MECHANISM
N FUJIKI, Y MAE, T UMETANI, T ARAI, T TAKUBO, K INOUE

Session 3
SENSORS
Chairman P BIDAUD
Room C
14.00 14.20
INDUCTION MAGNETIC FIELD SENSOR AS AN ORGAN OF ROBOT VISION
R SKLYAR
14.20 14.40
RESULTS OF APPLYING SENSOR FUSION TO A CONTROL SYSTEM USING
OPTIC FLOW
G MARTINEZ, V BECERRA
14.40 15.00
LEARNING ABOUT THE ENVIRONMENT BY ANALYZING ACOUSTIC
INFORMATION - HOW TO ACHIEVE PREDICTABILITY IN UNKNOWN
ENVIRONMENTS?
M DEUTSCHER, M KATZ, S KRGER
15.00 15.20
ULTRASOUND SENSOR SYSTEM WITH FUZZY DATA PROCESSING
J A MORGADO DE GOIS, M HILLER
15.20 15.40
FINDING ODOURS ACROSS LARGE SEARCH SPACES: A PARTICLE SWARM-
BASED APPROACH
L MARQUES, A T DE ALMEIDA
15.40 16.00
VISION FEEDBACK IN CONTROL OF A GROUP OF MOBILE ROBOTS
P DUTKIEWICZ, M KIELCZEWSKI

16.00 16.15 Coffee Break

Session 4
CONTROL 2
Chairman J L CORONADO
Room A
16.15 16.35
LOCAL POSITIVE VELOCITY FEEDBACK (LPVF): GENERATING COMPLIANT
MOTIONS IN A MULTI-JOINT LIMB
A SCHNEIDER, H CRUSE, J SCHMITZ
16.35 16.55
MOTION CALCULATION FOR HUMAN LOWER EXTREMITIES BASED ON EMG-
SIGNAL-PROCESSING AND SIMPLE BIOMECHANICAL MODEL
C FLEISCHER, K KONDAK, C REINICKE, G HOMMEL
16.55 17.15
BIFURCATING RECURSIVE PROCESSING ELEMENTS IN NEURAL
ARCHITECTURES FOR APPLICATIONS IN MULTIDIMENSIONAL MOTOR
CONTROL AND SENSORY FUSION IN NOISY / UNCERTAIN ENVIRONMENTS
E DEL MORAL
CLAWAR 2004 FINAL PROGRAMME MADRID 22-24 SEPTEMBER
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17.15 17.35
THE EFFECTIVENESS OF ENERGY CONVERSION ELEMENT IN THE CONTROL OF
POWERED ORTHOSES
S C GHAROONI, M O TOKHI, G S VIRK
17.35 17.55
KINEMATICAL BEHAVIOR ANALYSIS AND WALKING PATTERN GENERATION OF
A FIVE DEGREES OF FREEDOM PNEUMATIC ROBOTIC LEG
G MUSCATO, G SPAMPINATO
17.55 18.15
TWO NEURAL APPROACHES FOR SOLVING REACHING TASKS WITH
REDUNDANT ROBOTS
J MOLINA-VILAPLANA, J L PEDREO-MOLINA, J LPEZ-CORONADO

Session 5
DESIGN 2
Chairman J ALBIEZ
Room B
16.15 16.35
WALLWALKER: PROPOSAL OF LOCOMOTION MECHANISM CLEANING EVEN AT
THE CORNER
T MIYAKE, H ISHIHARA
16.35 16.55
WALKIE6.4: A NEW IMPROVED VERSION OF A RIGID FRAMES HEXAPOD ROVER
N AMATI, B BONA, M CHIABERGE, G GENTA, M PADOVANI, R VOLPE
16.55 17.15
BIOLOGICAL INSPIRED WALKING - HOW MUCH NATURE DO WE NEED?
J ALBIEZ, K BERNS
17.15 17.35
BEHAVIOUR NETWORKS FOR WALKING MACHINES - A DESIGN METHOD
J ALBIEZ, R DILLMANN
17.35 17.55
EMBODIMENT IN TWO DIMENSIONS
C R LINDER
17.55 18.15
LEGGED ROBOT WITH ARTICULATED BODY IN LOCOMOTION OVER COMPLEX
TERRAIN
F PALIS, V RUSIN, U SCHMUCKER, A SCHNEIDER, Y ZAVGORODNIY

Session 6
SENSORS, TELEOPERATION
AND TELEPRESENCE
Chairman D HOWARD
Room C
16.15 16.35
VISION COMPUTER TOOL TO IMPROVE THE DEPENDABILITY OF MOBILE
ROBOTS FOR HUMAN ENVIRONMENTS
C SALINAS, L PEDRAZA, M ARMADA
16.35 16.55
INTELLIGENT TECHNICAL AUDITION AND VISION SENSORS FOR WALKING
ROBOT REALIZING TELEPRESENCE FUNCTIONS
V E PAVLOVSKY, S A POLIVTSEEV, T S KHASHAN
16.55 17.15
VEHICLE TELEOPERATION WITH A MULTISENSORY DRIVING INTERFACE
M MAZA , S BASELGA, J ORTIZ
17.15 17.35
APPROACHES TO THE GENERATION OF WHOLE BODY MOTION SENSATION IN
TELEOPERATION
M MAZA , S BASELGA, J ORTIZ
17.35 17.55
NOVEL METHOD FOR VIRTUAL IMAGE GENERATION FOR TELEOPERATION
R CHELLALI, C MAAOUI, J-G FONTAINE
17.55 18.15
VIRTUAL PLATFORM FOR LAND-MINE DETECTION BASED ON WALKING
ROBOTS
A RAMIREZ, E GARCIA, P GONZALEZ DE SANTOS



18.15 19.00 Poster Session, Robot Exhibition and Video, Climbing Robot Competition

CLAWAR 2004 FINAL PROGRAMME MADRID 22-24 SEPTEMBER
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POSTER SESSION
Room: Exhibition Hall
CLAWAR MODULARITY DESIGN TOOLS
G S VIRK
CLAWAR WP3 APPLICATIONS: NATURAL / OUTDOOR AND UNDERWATER
ROBOTS
D LONGO, G MUSCATO
INTERACTION SPACE ANALYSIS FOR CLAWAR WP5 SOCIETAL NEEDS
M ARMADA, M PRIETO
18.15 19.00
CLAWAR WP 6 - ECONOMIC PROSPECTS, EXPLOITATION AND RISK
ASSESSMENT OF MOBILE ROBOTIC SYSTEMS
H A WARREN


CLAWAR 2004 FINAL PROGRAMME MADRID 22-24 SEPTEMBER
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Thursday 23 September 2004

Plenary Session III
Chairman R CABALLERO
Room A
09.00 09.45
Prof. D A WINTER
WHAT BIPEDAL HUMAN LOCOMOTION CAN TEACH US ABOUT MOTOR
CONTROL SYNERGIES FOR SAFE ROBOTIC LOCOMOTION
Plenary Session IV
Chairman G MUSCATO
Room A
09.45 10.30
Prof. A L RUINA
SOME MECHANICS PERSPECTIVES ON ROBOT LOCOMOTION

10.30 11.00 Coffee Break + Robot Exhibition and Climbing Robot Competition

Session 7
CONTROL 3
Chairman K KOZLOWSKI
Room A
11.00 11.20
ARTIFICIAL POTENTIAL BASED CONTROL FOR A LARGE SCALE FORMATION
OF MOBILE ROBOTS
K KOZLOWSKI, W KOWALCZYK
11.20 11.40
DESIGN AND IMPLEMENTATION OF FORCE SENSOR FOR ROBOCLIMBER
H MONTES, S NABULSI, M ARMADA, V SANCHEZ
11.40 12.00
DETECTING ZERO-MOMENT POINT IN LEGGED ROBOT
H MONTES, S NABULSI, M ARMADA
12.00 12.20
VISION FEEDBACK IN CONTROL OF A GROUP OF MOBILE ROBOTS
P DUTKIEWICZ, M KIELCZEWSKI
12.20 12.40
PHYSICALLY VARIABLE COMPLIANCE IN RUNNING
J W HURST, A A RIZZI
12.40 13.00
MOBILE MINI ROBOTS FOR MAS
M W HAN, P KOPACEK, B PUTZ, E SCHIERER, M WRZL

Session 8
EFFICIENCY AND ACTUATION
Chairman M O TOKHI
Room B
11.00 11.20
THE DESIGN AND SIMULATED PERFORMANCE OF AN ENERGY EFFICIENT
HYDRAULIC LEGGED ROBOT
S AL-KHARUSI, D HOWARD
11.20 11.40
MASS DISTRIBUTION INFLUENCE ON POWER CONSUMPTION IN WALKING
ROBOTS
T A GUARDABRAZO, P GONZALEZ DE SANTOS
11.40 12.00
THE MODULARITY OF SUPER EMBEDDED REAL-TIME PC (SERPC)
A BASILE, N ABBATE, C GUASTELLA, M LO PRESTI, G MACINA
12.00 12.20
TOWARD SPRINGY ROBOT WALK USING STRAND-MUSCLE ACTUATORS
M SUZUKI, A ICHIKAWA
12.20 12.40
ACTUATOR SIZES IN BIO-ROBOTIC WALKING ORTHOSES
S C GHAROONI, G S VIRK, M O TOKHI
12.40 13.00
DESIGN OF DUAL ACTUATOR FOR WALKING ROBOTS
T AKINFIEV, R FERNANDEZ, M ARMADA
CLAWAR 2004 FINAL PROGRAMME MADRID 22-24 SEPTEMBER
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Session 9
HOPPING, BIPED AND
HUMANOID ROBOTS 1
Chairman J-G FONTAINE
Room C
11.00 11.20
CONTROL OF A 3-D HOPPING APPARATUS
V B LARIN
11.20 11.40
LEARNING OF THE DYNAMIC WALK OF AN UNDERACTUATED BIPEDAL ROBOT:
IMPROVEMENT OF THE ROBUSTNESS BY USING CMAC NEURAL NETWORKS
C SABOURIN, O BRUNEAU, J-G FONTAINE
11.40 12.00
DYNAMIC STABILIZATION OF AN UNDER-ACTUATED ROBOT USING INERTIA OF
THE TRANSFER LEG
A DAVID, O BRUNEAU, J-G FONTAINE
12.00 12.20
KINEMATIC AND DYNAMIC ANALYSES OF A PANTOGRAPH-LEG FOR A BIPED
WALKING MACHINE
E OTTAVIANO, M CECCARELLI, C TAVOLIERI
12.20 12.40
GA OPTIMISATION OF THE PD COEFFICIENTS FOR THE LMBC OF A PLANAR
BIPED
D HARVEY, G S VIRK, D AZZI
12.40 13.00
PARALLEL MANIPULATOR HIP JOINT FOR A BIPEDAL ROBOT
J HOFSCHULTE, M SEEBODE, W GERTH

13.00 14.00 Lunch Break

Session 10
PASSIVE WALKING
Chairman M WISSE
Room A
14.00 14.20
STABLE WALKING AND RUNNING ROBOTS WITHOUT FEEDBACK
K D MOMBAUR, H G BOCK, J P SCHLDER, R W LONGMAN
14.20 14.40
FROM PASSIVE TO ACTIVE DYNAMIC 3D BIPEDAL WALKING - AN
EVOLUTIONARY APPROACH
S WISCHMANN, F PASEMANN
14.40 15.00
FIRST STEPS IN PASSIVE DYNAMIC WALKING
M WISSE, A L SCHWAB
15.00 15.20
CONTROLLING WALKING PERIOD OF A PNEUMATIC MUSCLE WALKER
T TAKUMA, K HOSODA, M ASADA
15.20 15.40
EVOLUTIONARY DESIGN OF AN ADAPTIVE DYNAMIC WALKER
J HA, J M HERRMANN, T GEISEL
15.40 16.00
THE PASSIVITY PARADIGM IN THE CONTROL OF BIPEDAL ROBOTS
M W SPONG
CLAWAR 2004 FINAL PROGRAMME MADRID 22-24 SEPTEMBER
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Session 11
APPLICATIONS
Chairman M P RIBEIRO
Room B
14.00 14.20
ROBTANK INSPEC - IN SERVICE ROBOTIZED INSPECTION OF HAZARDOUS
PRODUCTS STORAGE TANK
A CORREIA CRUZ, M SILVA RIBEIRO
14.20 14.40
SIRIUSC - FAADE CLEANING ROBOT FOR SKYSCRAPER IN MUNICH,
GERMANY
N ELKMANN, D KUNST, T KRUEGER, T BHME, T FELSCH, J SAENZ
14.40 15.00
IN-PIPE MICROROBOT WITH INERTIAL MOOD OF MOTION
G G RIZZOTTO, M VEKLENKO, P AMATO, V GRADETSKY, S BASHKIROV
M KNYAZKOV, V SOLOVTSOV
15.00 15.20
THE LAYER CROSSING STRATEGY OF CURVED WALL CLEANING ROBOT
L RONG, H JIN, S LONG, Z GUANGHUA, Z HOUXIANG
15.20 15.40
PNEUMATIC CLIMBING ROBOTS FOR GLASS WALL CLEANING
H ZHANG, J ZHANG
15.40 16.00
DESIGN AND PROTOTYPING OF A HYBRID POLE CLIMBING AND
MANIPULATING ROBOT WITH MINIMUM DOFS FOR CONSTRUCTION AND
SERVICE APPLICATIONS
M TAVAKOLI, M R ZAKERZADEH, G R VOSOUGHI, S BAGHERI

Session 12
HOPPING, BIPED AND
HUMANOID ROBOTS 2
Chairman C BALAGUER
Room C
14.00 14.20
THREE-DIMENSIONAL RUNNING IS UNSTABLE BUT EASILY STABILIZED
J E SEIPEL, P J HOLMES
14.20 14.40
A BIOMIMETIC APPROACH FOR THE STABILITY OF BIPED ROBOTS
J DE LOPE, D MARAVALL
14.40 15.00
GAITS STABILIZATION FOR PLANAR BIPED ROBOTS USING ENERGETIC
REGULATION
N K MSIRDI, N KHRAIEF, O LICER
15.00 15.20
DEVELOPMENT OF THE LIGHT-WEIGHT HUMAN SIZE HUMANOID ROBOT RH-0
L CABAS, S DE TORRE, I PRIETO, M ARBULU, C BALAGUER
15.20 15.40
USER FRIENDLY GRAPHICAL ENVIRONMENT FOR GAIT
OPTIMIZATION OF THE HUMANOID ROBOT RH-0
M ARBULU, I PRIETO, D GUTIERREZ, L CABAS, P STAROVEROV, C BALAGUER
15.40 16.00
HUMAN MACHINE INTERFACE FOR HUMANOID ROBOT RH-0
I PRIETO, C PREZ, C BALAGUER


16.00 16.15 Coffee Break

CLAWAR 2004 FINAL PROGRAMME MADRID 22-24 SEPTEMBER
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Session 13
PASSIVE WALKING AND
LOCOMOTION
Chairman M WISSE
Room A
16.15 16.35
ANKLE JOINTS AND FLAT FEET IN DYNAMIC WALKING
D G E HOBBELEN, M WISSE
16.35 16.55
THE TANGO OF A LOAD BALANCING BIPED
E D VAUGHAN, E DI PAOLO, I R HARVEY
16.55 17.15
STABILIZING DYNAMIC WALKING WITH PHYSICAL TRICKS
N M MAYER, A A FOROUGH-NASSIRAEI, T CHRISTALLER
17.15 17.35
STABILITY OF A SIMPLE 3D WALKING MODEL
J E SEIPEL
17.35 17.55
LOCOMOTION MODES OF AN HYBRID WHEEL-LEGGED ROBOT
G BESSERON, C GRAND, F BENAMAR, F PLUMET, P BIDAUD
17.55 18.15
ROBOTIC WALKING AIDS FOR DISABLED PERSONS
G S VIRK, S C GHAROONI, S K BAG , M O TOKHI, R I TYLOR, S BRADSHAW, F
JAMIL, I D SWAIN, P H CHAPPLE, R A ALLEN

Session 14
CLIMBING
Chairman K BERNS
Room B
16.15 16.35
SIMULATION OF CLIMBING ROBOTS USING UNDERPRESSURE FOR ADHESION
C HILLENBRAND, J WETTACH, K BERNS
16.35 16.55
INVERSE KINEMATIC AND DYNAMIC ANALYSIS OF A NEW 4- DOF HYBRID
(SERIAL-PARALLEL) MANIPULATOR FOR POLE CLIMBING ROBOT
M TAVAKOLI, M R ZAKERZADEH, G R VOSOUGHI, S BAGHERI
16.55 17.15
CLIMBING WITHOUT A VACUUM PUMP
W BROCKMANN, F MSCH
17.15 17.35
TOWARDS PENETRATION-BASED CLAWED CLIMBING
W R PROVANCHER, J E CLARK, B GEISLER, M R CUTKOSKY
17.35 17.55
DEVELOPING CLIMBING ROBOTS FOR EDUCATION
K BERNS, T BRAUN, T LUKSCH
17.55 18.15
ROBUST LOCALIZATION OF A CLIMBING PLATFORM
A MARTINS, L MARQUES, A T DE ALMEIDA

Session 15
HOPPING, BIPED AND
HUMANOID ROBOTS 3
Chairman T AKINFIEV
Room C
16.15 16.35
HEIGHT CONTROL OF A RESONANCE HOPPING ROBOT
R FERNANDEZ, T AKINFIEV, M ARMADA
16.35 16.55
ZERO MOMENT POINT MODELING USING HARMONIC BALANCE
R CABALLERO, M ARMADA
16.55 17.15
HUMANOID ROBOT KINEMATICS MODELING USING LIE GROUPS
J M PARDOS, C BALAGUER
CLAWAR 2004 FINAL PROGRAMME MADRID 22-24 SEPTEMBER
http://www.iai.csic.es/clawar04 11 of 13
17.15 17.35
CONTROL ARCHITECTURE OF LUCY, A BIPED WITH PNEUMATIC ARTIFICIAL
MUSCLES
B VANDERBORGHT, B VERRELST, R VAN HAM, J VERMEULEN, J NAUDET, D
LEFEBER
17.35 17.55
TRAJECTORY PLANNING FOR THE WALKING BIPED "LUCY"
J VERMEULEN, D LEFEBER, B VERRELST, B VANDERBORGHT
17.55 18.15
FORCE FEEDBACK CONTROL IMPLEMENTATION FOR SMART NON-LINEAR
ACTUATOR
H MONTES, L PEDRAZA, M ARMADA, T AKINFIEV
18.15 18.35
AN INTRODUCTORY REVISION TO HUMANOID ROBOT HANDS
D ALBA, M ARMADA, R PONTICELLI

18.35 19.15 Robot Exhibition and Video, Climbing Robot Competition

21.00 Conference Dinner

CLAWAR 2004 FINAL PROGRAMME MADRID 22-24 SEPTEMBER
http://www.iai.csic.es/clawar04 12 of 13

Friday 24 September 2004

Plenary Session V
Chairman P BIDAUD
Room A
09.00 09.45
Prof. M XIE
ROBOT VISION: A HOLISTIC VIEW

09.45 10.00 Coffee Break

Session 16
INNOVATIVE SYSTEMS
Chairman A T ALMEIDA
Room A
10.00 10.20
ROBUST PLATFORM FOR HUMANITARIAN DEMINING
L MARQUES, S LARIONOVA, A T DE ALMEIDA
10.20 10.40
DESIGN AND CONTROL OF A MANIPULATOR FOR LANDMINE DETECTION
E GARCIA, P GONZALEZ DE SANTOS
10.40 11.00
INTERACTIONS BETWEEN HUMAN AND ROBOT CASE STUDY:
WORKPARTNER-ROBOT IN THE ISR 2004 EXHIBITION
S YLNEN, M HEIKKIL, P VIREKOSKI
11.00 11.20
SIT TO STAND TRANSFER ASSISTING BY AN INTELLIGENT WALKING-AID
P MEDERIC, V PASQUI, F PLUMET, P BIDAUD
11.20 11.40
CO-OPERATIVE SMELL-BASED NAVIGATION FOR MOBILE ROBOTS
C LYTRIDIS, G S VIRK, E E KADAR
11.00 12.00
A LOCALIZATION ALGORITHM FOR OUTDOOR TRAJECTORY TRACKING WITH
LEGGED ROBOTS
J A COBANO, J ESTREMERA, P GONZALEZ DE SANTOS


Session 17
LOCOMOTION 2
Chairman R D QUINN
Room B
10.00 10.20
A CLAWAR THAT BENEFITS FROM ABSTRACTED COCKROACH LOCOMOTION
PRINCIPLES
T E WEI, R D QUINN, R E RITZMANN
10.20 10.40
ISPRAWL : AUTONOMY, AND THE EFECTS OF POWER TRANSMISSION
S KIM, J E CLARK, M R CUTKOSKY
10.40 11.00
LOCOMOTION OF A MODULAR WORM-LIKE ROBOT USING A FPGA-BASED
EMBEDDED MICROBLAZE SOFT-PROCESSOR
J GONZALEZ-GOMEZ, E AGUAYO, E BOEMO
11.00 11.20
LEGGED LOCOMOTION WHAT CAN BE LEARNED FROM ROBOTICS?
A SEYFARTH, H GEYER, F IIDA, J RUMMEL
11.20 11.40
EVOLUTIONARY DESIGN FOR STRUCTURE/CONTROL SYNTHESIS OF
LOCOMOTION SYSTEMS
N BRENER, P BIDAUD, O CHOCRON, F B AMAR
11.00 12.00
KINEMATIC MODEL AND ABSOLUTE GAIT SIMULATION OF A SIX-LEGGED
WALKING ROBOT
G FIGLIOLINI, V RIPA

CLAWAR 2004 FINAL PROGRAMME MADRID 22-24 SEPTEMBER
http://www.iai.csic.es/clawar04 13 of 13
Session 18
CLIMBING AND NAVIGATION
Chairman R MOLFINO
Room C
10.00 10.20
ROBOCLIMBER: PROPOSAL FOR ON-LINE GAIT PLANNING
M MORONTI, M SANGUINETI, M ZOPPI, R M MOLFINO
10.20 10.40
ADHESION CONTROL FOR THE ALICIA3 CLIMBING ROBOT
D LONGO, G MUSCATO
10.40 11.00
ROBOCLIMBER: CONTROL SYSTEM ARCHITECTURE
S NABULSI, H MONTES, M ARMADA
11.00 11.20
TECHNIQUE FOR A SIX-LEGGED WALKER CLIMBING A HIGH SHELF BY USING A
VERTICAL COLUMN
Y F GOLUBEV, V V KORIANOV
11.20 11.40
NAVIGATION OF WALKING ROBOTS: LOCALIZATION BY ODOMETRY
B GAMANN, J M ZLLNER, R DILLMANN
11.00 12.00
MOTION PLANNING FOR A LEGGED VEHICLE BASED ON OPTICAL SENSOR
INFORMATION
R BADE, ANDR HERMS, T IHME

12.15 13.00
Close of Conference
Chairman G S VIRK
Room A


13.00 14.00 Lunch






Induction Magnetic FieId Sensor as an Organ of Robot
Vision
Rostyslav SKLYAR
Space Sensing Instruments, Verchratskogo st. 15-1, Lviv 79010 Ukraine
Tel/Fax: 380-322-762432/769613; rsklyarhotmail.com
Abstract. The robotic vision method oI the autonomous system based on
the orientation oI the plane and according to the magnitude and gradient oI
the natural and industrial magnetic Iields (MFs) has been developed. The
head sensor(s) oI an ambient temperature or superconducting Iurther elec-
tronic circuit placed on the robot limb(s) without modiIying them. Sensi-
tivity oI the robotic vision makes it possible to recognize the linear trans-
lation oI 10
-2
m and disposal in space oI 10
-3
m
3
.
I. Introduction. Magnetometers and their robotic appIications
The measurement oI MFs is an important task Ior the majority oI
autonomous missions. The distribution oI permanent and the value oI peri-
odical MFs gives the data about placement oI Ierromagnetic objects and
sources oI EM radiation respectively. On the other hand, these signals will



!
"
# $
%
Fig. 1 The w alking
robot in M F
environm ent.
a) x-y plane
deIines the
varying DC
natural MF;
b) around z axis
spreads AC
industrial MF
interIerence.
2 Rostyslav SKLYAR
be a reIerence point and guiding line Ior a walking robot (Fig. 1).
Detection oI some magnetic anomalies oI the Earth MF and their
variations is provided by Iluxgate sensors |1|. When the spectrum oI EM
signals in the environment lies in a wide Irequency range (10Hz-500kHz),
the application oI highly-sensitive induction sensors is necessary. The ap-
plication oI a low-Tc SQUID device is able to embrace both oI the said
Irequency ranges with maximum sensitivity. It is made oI non-magnetic
material and the principle oI operation is to detect two magnetic signals at
diIIerent distances Irom the source and arrange Ior these to be in opposi-
tion around a local supercooled circuit. This gradiometer` approach elimi-
nates most oI the noisecaused by spurious MFs originating Irom, Ior ex-
ample, electrical devices or natural (geomagnetic (GM) sources. A typical
unshielded laboratory has a noise level in the 010 Hz Irequency region
oI about 10
-7
T and GM noise in the same Irequency range is oI the order
oI 10
-10
T. Any small Iield changes the direction oI the MF vector in the
space and this produces a distortion in the waveIorm oI the signal in the
detection coils. The very expensive use oI the SQUID magnetometer up
until now has produced many advances in the understanding oI MFs Irom
weak sources. The advance oI much cheaper roomtemperature sensor
technologies oIIers the prospect oI much greater use oI MF monitoring |2|.
As a general rule, scientiIic instrumentation should impact mass
constraints as little as possible; however, robot-mounted instruments in
particular must be lightweight to survive deployment under high- stress
conditions when used in connection with spacecraIt or underwater. This
weight constraint can limit both the size oI the sensor and its placement on
the moving part. Also, autonomous systems require the minimal consump-
tion power. Both Iactors translate into severe constraints on the capability
oI the instrument to measure weak EMFs encountered in the environment.
In addition, the outer space and underwater conditions require endurance
against variations in the wide range oI temperature, humidity, and atmos-
pheric pressure.
II. Induction (superconducting) sensor as the organ of vision
Taking into account the said restrictions, it is undesirable to use in
robot a Iluxgate sensor due to its active type oI action. Also is impossible
exploiting SQUID device since it needs the liquid helium container.
SQUID systems being almost ideal Ior the detection oI very small amounts
oI Ilux Irom small samples, but less well-suited to the detection oI low Ilux
densities (i.e. where very low MFs are encountered). The high coil induc-
!"#$%&! '(%)* +%&,&--./. )*#01 2 3.%+4(-*( .*)+*)*2+(*# 3
tance oI the induction system, on the other hand, can couple to a large
quantity oI Ilux |3|. It appears that these diIIiculties Irequently reduce, in
principle, the perIormance oI SQUID magnetometers to a level below that
demonstrated in this article using an ambient-temperature induction sys-
tem. This induction sensor is also compact, robust, operates at room tem-
perature, exhibits a wide dynamic range, and may be easily integrated into
diIIerential or multiple sensor gradiometric conIigurations which are Ieasi-
ble in a multi-limb walking robot.
1. Placing of the PCs on the limbs
A PC oI walking robot is connected in parallel with the drain oI a Su-
FET cryogenic device or an ordinary OA which are placed in the body
(Fig. 2). A PC realizing the oscillatory-Iorward movement along both AC
industrial interIerences and quasi-DC natural (Earth) environmental MFs.
These Iields are distributed on a surIace and in space roughly according to
Fig. 1. The movement in quasi-DC MF H
DC
with the deIined speed ! and
oscillating Irequency " with a magnitude #$ gives e.m.I. Irom PC:
E
PC
SN"
eII

0
H
DC
sin$%#$ , (1)
where S
eII
&d
2
N/4 with
0
-the permeability oI Iree space,
0
4&%10
-7
henry/meter;
eII
-the eIIective relative permeability oI a high- metal core;
d-the average diameter oI a PC; N-total turn number oI solenoid; $- an an-
gle between PC's magnetic axis and the vector oI H
DC
. Further ampliIy-
ing/processing circuit depends on the measuring conditions and can vary
Irom the simplest oI the ordinary induction sensor modiIications to the su-
perconducting one |4|.
Fig. 2 Placement oI PC
on the limb.
a) a winding oI PC;
b) a Ierromagnetic core
oI PC as a part oI the
limb(s);
c) a wire which
connects PC with an
electronic circuit in
the body.
%
$
$
&
&
"
limb
"
limb
4 Rostyslav SKLYAR
2. The design of the MF transducer
Some combined device, that includes all the best Ieatures oI the
said MF sensors/transducers seems to be the preIerable trend Ior Iurther
development as a vision organ |4|. The SuFET is implemented into a wide-
band induction sensor device in order to acquire the sensitivity threshold
below 1IT/'Hz in the Irequency range Irom small values oI Hertz to tens
oI MHz (0.1Hz-10
7
Hz). The proposed magnetometer (SIM) circuit con-
sists oI both room-temperature or cooled (up to superconductive) pickup
coil (PC) and a SuFET. Moreover, it gives the possibility oI repudiating
both windings and electronics oI Ieedback loops that are used in the known
magnetometers.
Magnetic induction B
PC
oI AC MF with the Irequency "
limb
oI
limbs' oscillations produce an e.m.I. in PC:
E
PC
B
PC
"
limb
SN, (2)
where S- a cross-section oI PC, N- its number oI turns. All AC MFs with
the Irequencies ", high than "
limb
can be rejected by the passive HF Iilter
|5|.On the other hand, the value oI E
PC
can be determined Irom the output
voltage U
out
oI the speciIic kind oI the induction transducer |4| with known
its transIer Iunction G according to the Iormula:
U
out
GE
PC
. (3)
As a result, an output signal receiving spontaneously, during two-
dimensional travel oI a walking robot in a quasi-DC MF. Moreover, by
picking up the signals Irom both horizontal and vertical parts oI the limbs,
the robot derives its' directional inIormation Irom the axial course oI the
Iield lines and their inclination (deIined as the angle between the direction
oI the Iield lines and the horizontal) in space. Executing the oscillations oI
PC with parameters (number oI turns N2%10
4
and a cross-section area
S&%10
-4
m
2
) |4| in the earth MF B
0
50 mkT |6| with the Irequency 2 Hz
and $30(, #$30( arouse e.m.I. with a magnitude 50 mV according to
Eq. 1. This e.m.I. will be on average equal to 5 mkV Ior the possible
variations oI the said MF with magnitude 1)10 nT |6|. Hence these data it
is possible to calculate the value oI U
out
Ior all Iive known oI the induction
transducer |4| with given parameters oI their electrical circuit. Thus so
then: a) Ior the basic transducer's variant with PC's resistance R2.4
kOhm, inductance L30 H and capacitance C50 pF the values oI U
out
shown in the second column oI the table; b) the voltage Ieedback resis-
tance R
Ib
27 kOhm is introduced into the circuit; c) the magnetic Ilux
Ieedback turns N
Ib
1000 is introduced into the device; d) Ior SuFET the
constant partial oI gate voltage equal to 0.1 V and "
T
, which closely relates
to the small signal transconductance, are deIined |4|.
!"#$%&! '(%)* +%&,&--./. )*#01 2 3.%+4(-*( .*)+*)*2+(*# 5
Table. The dependence oI signal's value U
out
Irom the varying MF B
PC
.
B
PC
!U
out
a b c d
50 mkT 10 V 70 mV 1.4 V 3 mkV0.1 V
5 nT 1 mV 7 mkV 0.14 mV 0.3 pV0.1 V (0.1 mkT)
III. Using an ambient DC and AC MFs for robot's waIking
An output signal oI the sensor will be involved into diIIerencial (gradi-
ometric) operation between the robot`s limbs. AIter envelope detection oI
the quantity U
out
, can be presented by changing the corresponding quasi-
DC MF by the robot`s movement as deIined in Fig. 3. In the similar man-
ner, way an AC MF partial can be shown.
The linear travel oI the robot can be derived Irom the known distance
between any two limbs and measured during the movement gradient oI MF
#H, which is presumed constant. Otherwise, the robot can be walking in
the direction oI minimal or maximal MF strength H according to the said
gradient (Fig. 4). In both cases the precision oI movement will be deIined
by the sensors` sensitivity, which lies in a range oI the orders Irom pT/'Hz
to IT/'Hz .
1. Determination of the earth's MF gradient
A portable single axis magnetic gradiometer, which is a relative in-
strument because it measures the spatial variation oI the MF, has been de-
scribed |7|. The Iinite distance between the magnetic sensors d Ior detect-
ing the Iield diIIerence is used to get an expression Ior the estimate oI the
exact magnetic gradient, adjusted by a Iunction oI the Iield distance,
#B
z
B
z
(z(1/2)d)-B
z
(z-(1/2)d), as Iollows:
!
"
#$
%
"
&$
%
'
()!
!
"
#
$
Fig. 3 The variations oI measured MF
strength H
DC
, H
AC
.
1- oscillations oI a PC modulated by
variations oI external natural MF;
2- an envelope oI sensor's output
voltage U
DC
as the appropriate quasi-
DC MF along the walking way;
3- changing oI an AC industrial MF
interIerence into the travel space;
4- the integral output voltage U
AC
which determines changing oI the
interIerence's power by a distance.
6 Rostyslav SKLYAR
6
2
0 z
z
z 4
md
5
d
B
B
&
*
+
#
, -
:
, (4)
where *
0
4&10
-7
H/m, z is the distance Irom the dipole to the center oI the
gradiometer probe and m the magnetic moment oI the dipole.
In the case to be treated in the Iollowing, the oscillations oI the
limbs are taking place according to the law closer to harmonical. Then the
magnitude value oI magnetic induction, which produced by oscillations oI
PC in the ambient DC MF B
z
is:
B
PC
B
z
(sin$(#$ , (5)
where $ is an angle between PC's direction oI detection and vector oI B,
#$ is a range (oI a value) oI this angle variation.
Having substituted Eqs. 1, 3, 5 into Eq. 4, we have the dependence be-
tween signals Irom PCs oI any two limbs and the relevant magnetic gradi-
ent occurs:
. /
6
2
0
limb
out
z
z 4
md
5
SNsin G
(1/2)) - (z - (1/2)) (z U
B
&
*
$ $ "
+
#
+
, -
:
(6)
A Iirst order radial gradiometer consists oI two axially displaced
magnetometer loops, wound in opposing sense Irom a common wire that is
connected to the induction sensor. Two radial magnetometers with oppo-
site polarity can be connected together to Iorm planar gradiometers |8|.
Such devices detect tangential gradient oI the radial Iield, and two gradi-
ometers are usually used at each site to detect two orthogonal planar gradi-
ents. The planar gradiometer behaviour is qualitatively diIIerent Irom that
oI the radial gradiometer.
2. Measuring of the MF signal (noise) in a triaxial arrangement
A Ilux transIormer detects more environmental noise iI its baseline
is long (or iI it is a magnetometer). Thus long baseline gradiometers detect
not only stronger signal Irom deep sources, but also larger environmental
noise. The noise parameters Ior diIIerent baselines were measured and are
shown graphically |8|.
Gradiometers can also be conIigured to detect radial gradient oI
the tangential MF. Two orthogonal tangential radial gradiometers` and
one radial gradiometer` can be combined to Iorm a Iirst-order gradiometer
equivalent oI the vector magnetometer. The vector oI the industrial or
household man-made AC MF (noise) " can be measured during the com-
plete pass oI the robot's walking. Placing oI the PC's triplets (the three
orthogonal components at each location) on the respective limbs dive the
necessary data Ior the triaxial MF determination according to the geomet
!"#$%&! '(%)* +%&,&--./. )*#01 2 3.%+4(-*( .*)+*)*2+(*# 7
rical summation. In such case, Irequency oI the limb's oscillations much
lower than ambient MF noise. That is why, they do not inIluence the
measured components and, moreover, these oscillations can be addition-
ally suppressed by a passive LF Iilter |9|. The value oI MF induction along
a single component will be calculated similarly to Eq. 1 and Eq. 2 by the
Iormula:
B
PC
"SNU
out
/G (7)
Some example oI the result oI the calculations according Eq. 7 shown in
Fig. 4. The dependence oI volumetric error on the baseline Ior environ-
mental noise is shown |8|.
IV. ConcIusions
The attempt to solve this problem oI simpliIying the robotic vision struc-
ture and reducing oI such perIormance data as mass, volume and power
consumption by the employing oI the induction (also superconducting)
Fig. 4 Orientation oI the walking robot in an environmental MF.
a) distribution oI the detected gradients oI DC natural MF over
the x-y plane;
b) distribution oI DC MF interIerence in the space around z axis
as a diIIerence between the limbs.
#H
DC
(n)
!
#
"
#H
DC
(m)
grad(#H
DC
)
#H
AC
(n)
#H
AC
(m)
8 Rostyslav SKLYAR
sensor was done. This method allows us to use the oscillations oI limbs
during robot's walking Ior receiving the measured signal and make the vi-
sion more natural Ior this machine. The advanced sensor has an unlimited
Irequency range Irom DC to HF, and sensitivity to the ambient MF is
closer to the theoretical possibility.
V. References
|1| Cerman A., Ripka P., Ka!par P., 'Precise Magnetic Sensors and
Magnetometers Ior Military and Space Applications, Sensors & Trans-
ducers Magazine, vol. 38, iss. 12, 2003, pp. 54-58;
|2| Mapps D. J., 'Remote Magnetic Sensing oI People, Sensors and
Actuators A, vol. 106, 2003, pp. 321-325;
|3| Prance R. J., Clark T. D. and Prance H., 'Compact Room-
Temperature Induction Magnetometer With Superconducting Quantum
InterIerence Device Level Field Sensitivity, Rev. Sci. Instrum., vol.74,
No. 8, 2003, pp. 3735-3739;
|4| Sklyar R., 'SIM- A SuFET Based Induction Magnetometer,
Proceedings oI 'Recent Advances oI Space Technology: RAST-2003',
Nov. 20-22, 2003, Istanbul, Turkey, pp.193-199;
|5| Zambresky L. F., Watanabe T., 'Equivalent Circuit oI a Magnetic
Sensor Coil and a Simple Filter Ior Rejection oI 60 Hz Man- Made Noise,
J.Geomag. Geoelectr., vol. 32, 1980, pp. 325-331;
|6| Ripka P., 'Review oI Fluxgate Sensors, Sensors and Actuators A,
vol. 33, 1992, pp. 129-141;
|7| Merayo J. M. G., Petersen J. R., Nielsen et al., 'A Portable Single
Axis Magnetic Gradiometer, Sens. Act. A, vol. 93, 2001, pp. 185-196;
|8| Vrba J. and Robinson S E, 'SQUID sensor array conIigurations Ior
magnetoencephalography applications (Topical review), Supercond. Sci.
Technol., vol. 15, 2002, pp. R51R89;
|9| Sklyar R., 'Suppression oI Low-Frequency InterIerences in the In-
duction Sensor oI Magnetic Field, has been considering Ior publication in
Measurement (M03/73).