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Abstract-For humanoid robots which are able to assist humans in their daily life, the capability for adequate interaction with human operators is a key feature. If one considers that more than 60% of human communication is conducted non-verbally (by using facial expressions and gestures), an important research topic is how interfaces for this non-verbal communication can be developed. To achieve this goal, several robotic heads have been designed. However, it remains unclear how exactly such a head should look like and what skills it should have to be able to interact properly with humans. This paper describes an approach that aims at answering some of these design choices. A behaviorbased control to realize facial expressions which is a basic ability needed for interaction with humans is presented. Furthermore a poll in which the generated facial expressions should be detected is visualized. Additionally, the mechatronical design of the head and the accompanying neck joint are given.Index Terms-humanoid robot head, facial expressions, mechanical design, behavior based control

PurposeThe non‐destructive inspection of large concrete walls (e.g. dams, bridge pylons) with autonomous systems is still an unsolved problem. One of the main difficulties is to develop a very flexible platform, which is able to move and inspect horizontal and vertical surfaces safely, and which is fast and cost‐efficient. The purpose of this paper is to present a climbing robot designed with these attributes in mind.Design/methodology/approachThis paper presents the Climbing RObot with Multiple Sucking Chambers for Inspection, which is designed for inspection of concrete walls. The propulsion system consists of three omnidirectional‐driven wheels for high maneuverability. The adhesion is performed by a vacuum system of seven controllable vacuum chambers and one large reservoir chamber. Pressure sensors and valves are integrated for controlling, which allows fast reaction on changing conditions.FindingsThe comparison of simulated results and a simple prototype indicates that the developed physical model is exact enough to estimate the efficiency of the proposed adhesion mechanism. The propulsion system has been tested extensively and allows high maneuverability on reasonably flat ground.Originality/valueThis paper introduces a climbing robot which will allow higher objectivity and reproducibility of inspections as well as safe working conditions for technicians. With such a machine one can check the building via remote control or semi‐autonomously.

Modern search and rescue workers are equipped with a powerful toolkit to address natural and man-made disasters. This introductory chapter explains how a new tool can be added to this toolkit: robots. The use of robotic assets in search and rescue operations is explained and an overview is given of the worldwide efforts to incorporate robotic tools in search and rescue operations. Furthermore, the European Union ICARUS project on this subject is introduced. The ICARUS project proposes to equip first responders with a comprehensive and integrated set of unmanned search and rescue tools, to increase the situational awareness of human crisis managers, such that more work can be done in a shorter amount of time. The ICARUS tools consist of assistive unmanned air, ground, and sea vehicles, equipped with victim-detection sensors. The unmanned vehicles collaborate as a coordinated team, communicating via ad hoc cognitive radio networking. To ensure optimal human-robot collaboration, these tools are seamlessly integrated into the command and control equipment of the human crisis managers and a set of training and support tools is provided to them to learn to use the ICARUS system.

I n this paper a multijoint robot for sewer inspection tasks is presented. I n order to increase the operating scope the robot has been made able to run round or over obstacles, to follow sewage branches and is aimed to work wirelessly unlike most other sewer inspection robots. As a result of the wireless approach the robot has to carry an energy resource and must be able to act autonomously. I n this article we give a short description of the mechanical design and the electronical components. Then we describe the controle system and show sequences and results of in pipe experiments.Informations about RT-Linux are available via internet at http://www.rtlinux. org/ rtlinux/

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