We are pleased to inform you that CLAWAR 2014 will be held within the premises of the Poznan University of Technology, Poznań, Poland, during 21 – 23 July 2014. The conference will feature technical and social programs. The technical program will comprise plenary, regular and special sessions. The social part will comprise of opening ceremony, conference banquet, coffee/tea breaks, lunch, tours to local attractions and technical tours to research institutions.


General Chair
Krzysztof Kozłowski

Local Arrangements Chair
Dariusz Pazderski

Program Chair
M. Osman Tokhi

International Advisory Committee Chair
Gurvinder S. Virk


CLAWAR 2014 Secretariat
Email: clawar2014@put.poznan.pl
Tel: +48 61 665 2197
Fax: +48 61 665 2849



ClAWAR 2014 Programme Info

Below you can download Clawar 2014 programme and instructions for presenters:

CLAWAR2014 Programme Summary
CLAWAR2014 Programme Details
CLAWAR2014 Instructions for Presenters

CLAWAR 2014 and UKRE 2014 Registration

The registration procedures and fees are detailed in the CLAWAR2014 Registration Form and UKRE2014 Registration Form.Please download it, fill the form in and then for payment by direct bank transfer please return the completed form via email to CLAWAR 2014 Office at clawar2014@put.poznan.pl

For more detailed informations please download CLAWAR2014 Registration Guidelines or UKRE2014 Registration Guidelines

Hotels and Map

We recommend two hotels near Conference Center (Point C on map) :
Park Hotel (Point A on map) Hotel Park Reservation Form
Ibis Hotel (Point B on map) Ibis Hotel Reservation Form

In both hotels if you inform staff during reservation that you are Clawar 2014 participant you will receive a discount on the regular room price. Please download appropriate document, fill it carefully and send it to the adress given at the bottom of the forms.

CLAWAR 2014 gallery

There are two different sets of fotos: Gallery on Google+: Conference Gallery Gallery Download the Conference fotos download

Areas of Interest

We invite papers in all areas relevant to mobile robotics. CLAWAR is a condensation of climbing and walking robots. The core areas are climbing, walking, flying and running robots with different kinds of locomotion and the technologies that support them. Wheeled and tracked platforms, in addition to legged machines are included. Supporting technologies include all the means that robots use to sense, model, and navigate through their environments and, of course, actuation and control technologies. Human interaction, including exoskeletons, prostheses and orthoses as well as service robots form increasingly active and important pertinent areas. Download the conference brochure for a detailed informations.

Plenary sessions

Gabriel Lopes

Delft Center for Systems and Control
Delft University of Technology
Deft, Netherlands


Abstractions for Legged Locomotion
Presentation download


The synchronisation of legs in a many legged robot is a combinatorial problem, that can be very critical for successful climbing or locomotion in very rough terrain. In this talk I will discuss how to develop gait generation controllers with desirable synchronisation properties by introducing a number of abstractions in the traditional modelling approaches. I will touch upon the philosophical implications of the different modelling techniques and the role of abstractions in the final outcome. Next I will review max-plus algebras as modelling tool for discrete-event systems and how it can be applied to legged locomotion. I will finalise with novel control opportunities made possible by the use of the mentioned abstractions.


Dr. Gabriel A.D. Lopes is an assistant professor at the Delft Center for Systems and Control, Delft Robotics Institute, TU Delft. He received his PhD and MSc in Electrical Engineering and Computer Science at the University of Michigan and has a “Licenciatura” in Aerospace Engineering at Instituto Superior Técnico, Portugal. He was a visiting researcher at the GRASP lab, University of Pennsylvania. His broad interests include nonlinear control problems for robotics, such as nonholonomic control, learning control, hybrid systems, max-plus algebras, discrete event systems, and many other topics. He has recently served as the local chair for the RoboCup2013 rescue league.

Kazuhiro Kosuge

Department of Bioengineering and Robotics
Tohoku University
Sendai, Japan


Mobile Robots Coordination and Its Application to iCART (Intelligent Cooperative Autonomous Robot Transporters)
Presentation download


In this presentation, we first introduce a coordinated motion control of multiple robots based on compliant motion control of each robot, assuming that motion of each robot could not be controlled precisely even with control of internal force applied to the robots. Then, a leader-follower concept is introduced for dealing with motion inconsistencies among robots. When we consider coordination of mobile robots, the slippage between a mobile base and the ground is inevitable and its odometry could not be used for the coordination of the multiple robots especially having physical interactions. A new coordinated motion control scheme is introduced to overcome the problem inspired by a “caster” mechanism. The control system is applied to iCART (Intelligent Cooperative Autonomous Robot Transporters), which is a new robot system handling a vehicle instead of a driver. Coordination of multiple mobile robots for handling a vehicle is a challenging task for multiple mobile robots. Through the development of iCART, we will discuss issues relating to robotics as systems integration.


Dr. Kazuhiro Kosuge is a Professor in the Department of Bioengineering and Robotics at Tohoku University, Japan. He received the B.S., M.S., and Ph.D. in control engineering from the Tokyo Institute of Technology, in 1978, 1980, and 1988 respectively. From 1980 through 1982, he was a Research Staff in the Production Engineering Department, Nippon Denso Co., Ltd. (DENSO Co., Ltd. at present). From 1982 through 1990, he was a Research Associate in the Department of Control Engineering at Tokyo Institute of Technology. From 1990 to 1995, he was an Associate Professor at Nagoya University. From 1995, he has been at Tohoku University. He received the JSME Awards for the best papers from the Japan Society of Mechanical Engineers in 2002 and 2005, the RSJ Award for the best papers from the Robotics Society of Japan in 2005. He is an IEEE Fellow, a JSME Fellow, a SICE Fellow and RSJ Fellow. He served as President of IEEE Robotics and Automation Society for 2010-2011 and is serving as a junior past president of IEEE Robotics and Automation Society for 2012-2013.

Anthony A. (Tony) Maciejewski

Department of Electrical & Computer Engineering
Colorado State University


Using Kinematic Redundancy to Design Fault Tolerant Robotic Systems


Operations in remote or extremely hazardous environments, e.g., in space, underwater, or in nuclear/chemical waste sites, are frequently performed by robotic devices. Unfortunately, the very nature of these environments makes the probability of a failure in the mechanical or electronic hardware of the robot more likely. Because by definition the operating environment precludes the intervention of a human to repair or retrieve the device, fault tolerance becomes a critical issue. By fault tolerance it is meant that damage to any portion of the robotic system, such as the mechanical actuators, control electronics, sensors, etc., will not render the system uncontrollable. A damaged fault tolerant system can be operated, albeit in a somewhat degraded capacity, to complete the assigned task or at a minimum to retrieve the robotic device without compromising the working environment. This presentation will focus on two approaches for designing failure tolerant robotic systems. The first is to develop software that can control robots of an arbitrary design to achieve maximum fault tolerance. This would allow the use of conventional robots to their maximum capability, regardless of the extent of the damage to the device. The second is to design robotic systems with kinematic redundancy that maximizes the dexterity and maneuverability of the system after the occurrence of a fault.


Anthony A. Maciejewski received the BS, MS, and PhD degrees in Electrical Engineering from The Ohio State University, Columbus. He was a Professor of Electrical and Computer Engineering at Purdue University, West Lafayette from 1988 to 2001 and is currently the Head of the Electrical and Computer Engineering Department at Colorado State University. His research and teaching interests center on the analysis, simulation, and control of systems that deal with uncertainty. He is a Fellow of the IEEE for his contributions to the design and control of kinematically redundant robots and he currently serves as the VP for Financial Activities for the IEEE Robotics and Automation Society. A complete vita is available at: Click!.

Gurvinder S. Virk

Professor of Robotics and the Built Environment, University of Gävle, Gävle, SWEDEN
Professor of Robotics & Autonomous Systems, KTH Royal Institute of Technology, Stockholm, SWEDEN
Trustee & Chairman, CLAWAR Association Limited, UK


CLAWAR to service robots
Presentation download


Since the 1960’s, robotics has focused on manufacturing robots for use in industrial applications to perform operations such as handling, joining, inspection, machining, spot welding, assembling, etc. In order for the robots to perform their required tasks in these classical applications, the “workpiece” has had to be brought to the robots. Since the mid-1980s, interest has grown in developing new robots for applications where tasks need to be performed in-situ locations demanding that problems of localisation and locomotion are also important. In these scenarios, robot mobility is the key capability, and this can be realised in a variety of ways, e.g., via wheels, tracks, legs, etc. In some applications, the mobile robots also need a climbing capability due to their working environments and tasks to be performed (e.g., inspecting the external walls of tall buildings); these requirements present interesting challenges as seen in the area of climbing and walking robots focussed on by the EC funded Network of Excellence CLAWAR (climbing and walking robots) coordinated by Professor Virk during 1996-2005. Researchers have used CLAWAR to discuss climbing AND walking AND running robots but in fact any form of robot mobility is relevant and presents interesting challenges for robotics.

In the main, the design basis for the robot applications to date has been to keep robots and humans apart due to safety concerns. The industrial robots in manufacturing are kept apart from humans by real or virtual cages and CLAWAR robots have focussed on hazardous applications where humans should not be present. More recently, the trend is towards close human-robot interactions to realise new service robots to “perform useful tasks for humans or equipment excluding industrial automation applications” and in particular to developing personal care robots to perform “actions contributing directly towards improvement in the quality of life of humans, excluding medical applications” to meet the global ageing societal problems. The demands to create the new robot markets needed have exposed key gaps in robot safety and how they should be regulated. This has hindered the expected growth of robotics. To address this issue, ISO/IEC robot standardization and ethical activities have been initiated and Prof Virk is heavily involved in these to develop the emerging areas of personal care robots and medical robots.

Prof Virk has been involved in a number of research projects aimed at developing innovative robots for new applications, and the seminar will present some of the key projects and the results achieved (see Figures). The presentation will describe the changing scene of robotics focussing on personal care robots able to provide physical assistance to elderly persons for daily living activities. In particular, the area of lower body exoskeletons for mobility of elderly persons is a primary target application area of current research activities.


Professor Gurvinder S. Virk (BSc, PhD, DIC, FIET, FCIBSE, CEng, CMath, FIMA). Prof Virk is Professor of Robotics at University of Gävle, Gävle and KTH, Stockholm, Sweden. Prior to moving to Sweden in March 2011, he was at Massey University, Wellington, New Zealand and before that at University of Leeds, UK. He is a technical expert in control theory and its applications with particular experience in service robotics and the use of advanced model-based control to a variety of applications. His current interests are in physical assistant exoskeletons for elderly persons (medical and non-medical applications), olfactory navigation for mobile robots, CLAWAR robots as well as integration of ICT into the built environment. He has extensive experience of project management and leading international R&D and standardisation projects. He has held several grants from national and European sources (total value of over 18 M€), as well as industry. He has produced over 300 papers in these areas and 11 books, 16 PhDs successfully completed and currently supervising 4 PhD students. Prof Virk is Convenor of two international robot standardisation work groups, namely:

  • ISO TC184/SC2/WG7 Personal care robot safety, and
  • IEC TC62/SC62A & ISO TC184/SC2/ JWG9 Medical electrical equipment and systems using robotic technology (medical robots) which are developing the safety standards for personal care robots and for medical robots respectively.

He is Fellow of the Institution of Engineering and Technology (FIET) and Fellow of the Chartered Institution of Building Services Engineers (FCIBSE) and a Fellow of the Institute of Mathematics and its Applications (FIMA); he is a Chartered Engineer and a Chartered Mathematician. He has been awarded, the Freedom of the City of London for his work in promoting Information Technology.


International Advisory Committee

Chair: Gurvinder S. Virk , Sweden

Manuel Armada, Spain
Abul K M Azad, USA
Karsten Berns, Germany
Philippe Bidaud, France
Bryan Bridge, UK
Hideo Fujimoto, Japan
Giovanni Muscato, Italy
Kenneth J Waldron, USA
Ming Xie, Singapore

International Program Committee

Chair: M. Osman Tokhi, UK

Gabriel Aguirre-Ollinger, Australia
Salmiah Ahmad, Malaysia
H.Levent Akin, Turkey
Md Shafiul Alam, Bangladesh
Fareg M Aldbrez, UK
Anibal T. De Almeida, Portugal
Kaspar Althoefer, UK
Farshid Amirabdollahian, UK
Ronald Arkin, USA
Faiz Ben Amar, France
Bishakh Bhattacharya, India
John Billingsley, Australia
Fabio Bonsignorio, Italy
Roger V. Bostelman, USA
Kaddour Bouazza-Marouf, UK
Stephen Cameron, UK
Hong Cheng, China
Christine Chevallerau, France
Chee-Meng Chew, Singapore
Daisuke Chugo, Japan
Holk Cruse, Germany
Abbas Dehghani, UK
Rüdiger Dillmann, Germany
Yang Ding, USA
Tony J. Dodd
Sanja Dogramadzi, UK
Max Suell Dutra, Brazil
Ashish Dutta, India
Roger Eastman, USA
Luigi Fortuna, Italy
Toshio Fukuda, Japan
Elena Garcia, Spain
Yiannis Gatsoulis, UK
Sam S Ge, Singapore
Khaled M. Goher, Oman
Daniel Goldman, USA
Pablo González de Santos, Spain
Christophe Grand, France
Yisheng Guan, China
Satyandra K. Gupta, USA
Aarne Halme, Finland
Neil Heyes, UK
Alamgir Hossain, UK
David Howard, UK
Loulin Huang, NZ
Ion Ion, Romania
Rozita Jailani, Malaysia

Ray Jarvis, Australia
Endre E. Kadar, UK
Petko Kiriazov, Bulgaria
Peter Kopacek, Austria
Reza Latif Shabgahi, Iran
Dirk Lefeber, Belgium
Hernando Leon-Rodriguez, Columbia
Chen Li, USA
Yanan Li, Singapore
Dikai Liu, Australia
Lino Marques, Portugal
Rasha Massoud, Syria
Hiromi Mochiyama
Zaharuddin Mohamed, Malaysia
Rezia Molfino, Italy
Seungbin Moon, Korea
Taro Nakamura, Japan
Denny Oetomo, Australia
Jacques Penders, UK
Himanshu R Pota, Australia
Dilip Kumar Pratihar, India
Libor Preucil, Czech Republic
Jinwu Qian, China
Roger Quinn, USA
Michael Rachkov, Russia
Mario Ribeiro, Portugal
Vitor Santos, Portugal
Tariq P. Sattar, UK
Klaus Schilling, Germany
Jim Schmiedeler, USA
Sanjay K. Sharma, UK
Filipe Silva, Portugal
Surya P. N. Singh, Australia
Mirosław Skibniewski, USA
Leif Steinicke, Belgium
Jose Tenreiro-Machado, Portugal
Anton Vitko, Slovakia
Keigo Watanabe, Japan
Heinz Wöern, Germany
Shane Xie, New Zealand
Rong Xiong, China
Ahmet Yigit, Kuwait
Massimiliano Zecca, Japan
Zhaowei W Zhong, Singapore
Changjiu J Zhou, Singapore
Teresa Zielinska, Poland

Special sessions


Exoskeletons for emerging applications


To bring together researchers and companies active in the area of assistive exoskeletons to report on the latest developments and to assist in facilitating future activities for realising the future assistive robotic technologies needed.


Physical assistant robots, as defined in the soon to be published ISO 13482 safety standard, are “personal care robots that physically assist a user to perform required tasks by providing supplementation or augmentation of personal capabilities”. The physical assistance can be at the individual joint level or at higher level and it can be provided in a variety of ways to help with performing normal human motions such as walking, reaching, handling, etc. Such movements are essential for normal daily living activities and they become increasingly difficult to perform as we grow older. In view of this, and the global ageing societal concerns, it is essential that assistive robot technologies be developed to meet the needs for ambient assisted living so that elderly persons can be supported to stay living independently in their own homes for as long as possible. There are also many other assistive robot applications such as helping workers to lift heavy object, or to work in difficult posture situations thereby improving quality of life in performing physically demanding tasks, etc.
A non-exclusive list of topics to be included in the special session is as follows:

  • Lower-body exoskeletons
  • Upper body exoskeletons
  • Full-body assistive suits
  • Rehabilitation applications
  • Gait enhancement
  • Exercising devices
  • Human biomechanics
  • Safety standardisation
  • FES for exoskeletons

There are also many projects and commercial activities on-going in this area and the special session will include as many as possible. Invited contributors likely to be included from the following (to be confirmed):

R&D Projects presentations

Company presentations

Contributions on modelling, simulation, control, system design and integration are also welcomed. Prospective authors are invited to prepare their papers in single-line space, single column PDF format with a cover page (with title of the paper, author(s) and title of the special session) and submit directly using the URL or the link in the paper submission page of the CLAWAR’14 conference web-site by the indicated deadline for consideration for inclusion in the conference. Final accepted papers will be limited to 8 pages in length in the prescribed style format given in the paper submission page of the conference web-site.
All papers will be peer reviewed, and all accepted papers (subject to registration) will be published in the CLAWAR’14 conference proceedings.

The special session is supported by the AAL Call 4 project EXO-LEGS aimed at developing exoskeleton legs for elderly persons (see web site).

Please submit your proposals of special sessions to the conference secretariat (clawar2014@put.poznan.pl) with a copy to Prof Gurvinder Virk (Gurvinder.Virk@hig.se). Each proposal should be no more than one A4 page in length and is to include title, aims/objectives, brief outline/scope, name and affiliation of the organiser(s).

Submission of Papers

The technical program of the conference will feature Regular Papers and Special Session Papers. Final accepted papers will be limited to 8 pages in length (and nominal extra charges apply to additional pages) in the prescribed style format given below :

Latex Template

MS Word Template

All papers will be peer reviewed, and all accepted papers will only be published in the conference proceedings if at least one author registers to present the paper. There will be conference CD and hard copy proceedings (published by the World Scientific Publishing Company). A selection of presented papers will also be recommended for possible publication in reputable international journals.

Authors are asked kindly to submit one page digest using template given below. This material will be used to prepare a conference digest.

Digest Template


Poznan University of Technology, Warsaw University of Technology, IEEE Robotics and Automation Society and IFToMM (International Federation for the Promotion of Mechanism and Machine Science) – under negotiations.

Other organisations wishing to sponsor the conference in any way and gain the corresponding benefits by promoting themselves and their products to the robotics community through conference publications, conference web-site and conference publicity are encouraged to contact the conference secretariat to discuss the terms of sponsorship and necessary arrangements.

UKRE Forum Workshop on Robot Ethics

Poznan, Poland, 22 July 2014




We are pleased to inform you of UK Robot Ethics (UKRE) Forum’s Workshop on Robot Ethics, which will be held during the CLAWAR 2014 annual conference in the premises of Poznan University of Technology, Poznan, Poland on 22 July 2014. We would like to invite the R&D and wider community to start an international discussion on this important topic. This is the first international workshop of this kind organised as part of the BSI AMT/-/2 Committee on Robots and Robotic Devices in collaboration with the UK charity CLAWAR Association to promote the development of global robotics for the public benefit.

The aim of the workshop is to engage with stakeholders to both disseminate the ethical issues and gather input for determining international perspectives on various robot ethical issues.

Key dates

07 March 2014 Submission of full papers

21 March 2014 Notification of acceptance

04 April 2014 Final paper submission

22 July 2014 Workshop venue

Submission of Papers

Please submit full draft papers in PDF format directly using the URL (https://www.softconf.com/d/clawar2014/submit.html) or the link in the paper submission page of the CLAWAR 2014 conference web-site by the indicated deadline for consideration for inclusion in the relevant category. Final accepted papers will be limited to 8 pages in length in the prescribed style format given in the paper submission page of the CLAWAR 2014. Submissions can include and may not be limited to the following topics

  • Unacceptable robot applications
  • Robots designed to deceive
  • Robot hype and under delivering
  • Differential access of robots
  • Robot accountability and responsibility
  • Privacy & dignity in robot care applications
  • Protection of the vulnerable
  • Limits to robot autonomy
  • Liability and legal issues
  • Robot co-workers
  • Ethical behaviour of robots
  • Social distribution
  • Misrepresentation

All papers will be peer reviewed, and all accepted papers (subject to registration) will be published in the CLAWAR 2014 conference proceedings.

A selection of presented papers will also be recommended for possible publication in the CLAWAR Association eJournal on Mobile Robotics.


Participation at the Workshop will be by formal registration and payment of a nominal registration fee. Participants registered for the CLAWAR 2014 conference are allowed to attend the workshop sessions. Participants may choose to register for only the one-day UKRE workshop, or alternatively if they register for the CLAWAR 2014 conference the will have the privilege to attend both the workshop and the conference sessions.


UKRE Workshop issues: ukre@clawar.org

CLAWAR 2014 conference issues: clawar2014@put.poznan.pl


Kind regards

M. Osman Tokhi (Program chair)

Endre Kadar (Organising chair)


PEMRA Workshop on Perception for Mobile Robots Autonomy

Due to the low number of submissions the organizers of PEMRA has decided to cancel the Workshop.