Intro
Preface
Organization
Contents
Part IV
Novel Mechanisms, Robots and Applications
Optimal Design of Cam Curve Dedicated to Improving Load Uniformity of Bidirectional Antagonistic VSA
1 Introduction
2 Overall Structural Design
3 Stiffness Adjustment Principle and Nonlinear Compensation
3.1 Stiffness Adjustment Principle and Nonlinear Analysis
3.2 Stiffness Nonlinear Compensation
4 Optimization Design of Cam Drive Profile
4.1 Constraint Analysis of Cam Curve Design Parameters
4.2 Cam Curve Design Optimization and Result Analysis
5 Conclusion

2.1 Flapping Mechanism
2.2 Deformable Mechanism
2.3 Coupling Design Mechanism
3 Simulation
4 Conclusion
References
An Autonomous Flight Control Strategy Based on Human-Skill Imitation for Flapping-Wing Aerial Vehicle
1 Introduction
2 Control Strategy
2.1 Manual Control
2.2 Human-Skill Imitation
3 Experiment
3.1 Takeoff
3.2 Cruise
3.3 Landing
4 Conclusions
References
A New Moving Target Interception Algorithm for an AUV in the Ocean Current Environment
1 Introduction
2 The Basic Model for an AUV Intercepting Moving Target

2.1 The Overview of Interception Problem
2.2 A Model of the Underwater Environment
3 The Proposed APF-VS-KF Algorithm
3.1 Planning Intercept Path of the AUV
3.2 Update Moving Position of Target Based on KF
4 Simulation Results and Analysis
4.1 The AUV Intercepts a Target Moving Along a Constant Straight Line in a 2-D Environment with Ocean Vurrent of 90
4.2 The AUV Intercepts a Target Moving Along a Constant Straight Line in a 2-D Environment with Ocean Current of 180
5 Conclusion
References
Design and Control of In-Pipe Inspection Robot forPre-commissioning

1 Introduction
2 Kinematic Properties of HL-6 Robot in Pipes
2.1 Overview of the LH-6 Robotic System
2.2 Kinematics of HL-6 Robot in Pipes
3 Dynamical Model of HL-6 Robot in Pipes
4 Control of HL-6 Robot Based on Kinetic Model
4.1 Control of CoM's Position and Trunk's Orientation
4.2 Computation of the Desired Supporting Force
4.3 Details of Control
5 Experiments
6 Conclusions
References
Research on Technology of Pipeline Detection Robot Based on Spiral Propulsion
1 Introduction
2 Pipeline Robot Design
2.1 Structure Composition of Pipeline Robot