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  • Conference proceedings
  • © 2023

Robotics in Natural Settings


  • Includes recent research on Climbing and Walking Robots

  • Shows proceedings of 25th Conference Series on Climbing and Walking Robots and Support Technologies for Mobile Machines

  • Written by leading experts in the field

Part of the book series: Lecture Notes in Networks and Systems (LNNS, volume 530)

Conference series link(s): CLAWAR: Climbing and Walking Robots Conference

Conference proceedings info: CLAWAR 2022.

Buying options

eBook USD 219.00
Price excludes VAT (USA)
  • ISBN: 978-3-031-15226-9
  • Instant PDF download
  • Readable on all devices
  • Own it forever
  • Exclusive offer for individuals only
  • Tax calculation will be finalised during checkout
Softcover Book USD 279.99
Price excludes VAT (USA)

This is a preview of subscription content, access via your institution.

Table of contents (55 papers)

  1. Front Matter

    Pages i-xxxi
  2. Plenary Presentations

    1. Front Matter

      Pages 1-1
    2. Developing Biomedical Devices

      • Cristina P. Santos
      Pages 3-3
    3. It’s Alive! From Bioinspired to Biohybrid Robots

      • Victoria A. Webster-Wood
      Pages 4-4
  3. Biologically-Inspired Systems and Solutions

    1. Front Matter

      Pages 19-19
    2. Power to the Springs: Passive Elements are Sufficient to Drive Push-Off in Human Walking

      • Alexandra Buchmann, Bernadett Kiss, Alexander Badri-Spröwitz, Daniel Renjewski
      Pages 21-32
    3. Grasping Characteristics of Flexible Propulsion Unit Using Braid Mechanism for Lunar Exploration Robot

      • Chikage Fujikawa, Ryosuke Tokoi, Wataru Toyama, Manabu Okui, Tsuji Tomoaki, Taro Nakamura et al.
      Pages 33-41
    4. Soft Gripper with Adjustable Microspines for Adhering to Tree Branches

      • Steffen Kirchgeorg, Bram Benist, Stefano Mintchev
      Pages 61-74
    5. Exploiting Friction Anisotropy for Soft Robot Locomotion

      • Naris Asawalertsak, Stanislav N. Gorb, Alexander Kovalev, Jonas Jørgensen, Poramate Manoonpong
      Pages 75-79
  4. Hybrid Legged-Wheeled Locomotion Robots

    1. Front Matter

      Pages 81-81
    2. A Survey of Wheeled-Legged Robots

      • Marko Bjelonic, Victor Klemm, Joonho Lee, Marco Hutter
      Pages 83-94
    3. Performance Evaluation of an Innovative Suspension System for Obstacle Crossing

      • Denis N’chot, Jean-Christophe Fauroux, Lama Al Bassit, Roland Lenain, Philippe Vaslin
      Pages 95-106
    4. Autonomous Wheeled Locomotion on Irregular Terrain with Tactile Sensing

      • Hiroki Tomioka, Masahiro Ikeda, Keung Or, Ryuma Niiyama, Yasuo Kuniyoshi
      Pages 107-118
    5. Control of Wheeled-Legged Quadrupeds Using Deep Reinforcement Learning

      • Joonho Lee, Marko Bjelonic, Marco Hutter
      Pages 119-127
    6. Design Optimization of a Four-Bar Leg Linkage for a Legged-Wheeled Balancing Robot

      • Victor Klemm, Dominik Mannhart, Roland Siegwart
      Pages 128-139
    7. Hybrid Legged-Wheeled Robotic Platforms: Survey on Existing Solutions

      • João Moreira, Inês N. Soares, José Lima, Vítor H. Pinto, Paulo Costa
      Pages 140-151

Other Volumes

  1. Robotics in Natural Settings

About this book


This book includes recent research on climbing and walking robots. CLAWAR 2022 is the twenty-fifth International Conference Series on Climbing and Walking Robots and Mobile Machine Support Technologies. The conference is organized by CLAWAR Association in collaboration with the University of the Azores, S. Miguel, Portugal, during September 12-14, 2022.


CLAWAR 2022 provides an updated state of the art on robotics and its use in a diversity of applications and/or simulation scenarios, within the framework “Robotics in Natural Settings”.


The topics covered include Bio-Inspired Robotics, Biped Locomotion, Educational Robotics, Human-Machine/Human-Robot Interaction, Innovative Actuators, Inspection, Legged Locomotion, Modeling and Simulation of CLAWAR, Outdoor and Field Robotics, Planning and Control, Wearable Devices and Assistive Robotics, and the Use of A.I. in Robotics.


The intended readership includes participants of CLAWAR 2022 conference, international robotic researchers, scientists, and professors of related topics worldwide, and professors and students of postgraduate courses in Robotics and Automation, Control Engineering, Mechanical Engineering, and Mechatronics.


  • Robotics
  • Legged Robots
  • Climbing Robots
  • Assistive Technologies
  • CLAWAR 22

Editors and Affiliations

  • Faculty of Sciences and Technology, University of the Azores, Ponta Delgada, Portugal

    José M. Cascalho, Armando Mendes, Matthias Funk

  • School of Engineering, London South Bank University, London, UK

    Mohammad Osman Tokhi

  • School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  • Mechanical, Materials and Manufacturing Engineering (M3), Faculty of Engineering, University of Nottingham, Nottingham, UK

    Khaled Goher

Bibliographic Information

  • Book Title: Robotics in Natural Settings

  • Book Subtitle: CLAWAR 2022

  • Editors: José M. Cascalho, Mohammad Osman Tokhi, Manuel F. Silva, Armando Mendes, Khaled Goher, Matthias Funk

  • Series Title: Lecture Notes in Networks and Systems

  • DOI:

  • Publisher: Springer Cham

  • eBook Packages: Intelligent Technologies and Robotics, Intelligent Technologies and Robotics (R0)

  • Copyright Information: The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2023

  • Softcover ISBN: 978-3-031-15225-2Published: 25 August 2022

  • eBook ISBN: 978-3-031-15226-9Published: 24 August 2022

  • Series ISSN: 2367-3370

  • Series E-ISSN: 2367-3389

  • Edition Number: 1

  • Number of Pages: XXXI, 619

  • Number of Illustrations: 27 b/w illustrations, 309 illustrations in colour

  • Topics: Control, Robotics, Automation, Robotics, Computational Intelligence

Buying options

eBook USD 219.00
Price excludes VAT (USA)
  • ISBN: 978-3-031-15226-9
  • Instant PDF download
  • Readable on all devices
  • Own it forever
  • Exclusive offer for individuals only
  • Tax calculation will be finalised during checkout
Softcover Book USD 279.99
Price excludes VAT (USA)