Abstract
This paper analyzes the performance of a hexapod robot under the action of a cascade controller involving position and force feedback loops. In order to evaluate the system properties we formulate several measures of the walking system based on the system dynamics and the trajectory errors. Simulation experiments reveal the influence of the different control algorithms upon the proposed indices.

Abstract
This paper studies quasi-periodic gaits of multi-legged robot locomotion systems based on the analysis of the dynamic model. The purpose is to determine the system performance during walking and the best strategy to overcome an obstacle. For that objective the robot prescribed motion is characterized in terms of several locomotion and obstacle variables. In this perspective, we formulate three performance measures of the walking robot namely, the mean absolute power, the mean power lost in the joint actuators and the mean force of the interface body-legs per walking distance. A set of model-based experiments reveals the influence of the obstacle position and dimensions in the proposed indices.

Abstract
This paper presents the energy analysis of periodic gaits for multi-legged locomotion systems. The main purpose is to determine the system performance during walking and the best set of locomotion variables that minimizes a cost function related to energy. For that objective, the prescribed motion of the robot is completely characterized in terms of several locomotion variables such as gait, duty factor, body height, step length, stroke pitch, maximum foot clearance, link lengths, body and legs mass and cycle time. In this work, we formulate three indices to quantitatively measure the performance of the walking robot namely the mean absolute power, the mean power dispersion and the mean power lost in the joint actuators. A set of experiments reveals the influence of the locomotion variables in the proposed indices.

Abstract
This paper studies periodic gaits of multi-legged robot locomotion systems based on dynamic models. The purpose is to determine the system performance during walking and the best set of locomotion variables. For that objective the prescribed motion of the robot is completely characterized in terms of several locomotion variables such as gait, duty factor, body height, step length, stroke pitch, foot clearance, legs link lengths, foot-hip offset, body and legs mass and cycle time. In this perspective, we formulate four performance measures of the walking robot namely, the locomobility of the foot, the mean absolute power, the mean power dispersion and the mean power lost in the joint actuators per walking distance. A set of model-based experiments reveals the influence of the locomotion variables in the proposed indices.

Abstract
Diabetes, a chronic condition affecting millions of people, requires ongoing medical care and treatment, which can place a significant financial burden on society, directly and indirectly. In this paper we propose a vision-robotics system for the automatic assessment of the diabetic foot, one the exams used for the disease management. We present and discuss various computer vision techniques that can support the core operation of the system. U-Net and Segnet, two popular convolutional network architectures for image segmentation are applied in the current case. Hardcoded and machine learning pipelines are explained and compared using different metrics and scenarios. The obtained results show the advantages of the machine learning approach but also point to the importance of hard coded rules, especially when well know areas, such as the human foot, are the systems’ target. Overall, the system achieved very good results, paving the way to a fully automated clinical system.

Abstract
Logistics chains are being increasingly developed due to several factors, among which the exponential growth of e-commerce. Crossdocking is a logistics strategy used by several companies from varied economic sectors, applied in warehouses and distribution centres. In this context, it is the objective of the “CrossLog – Automatic Mixed-Palletizing for Crossdocking Logistics Centers” Project, to investigate and study an automated and collaborative crossdocking system, capable of moving and managing the flow of products within the warehouse in the fastest and safest way. In its scope, this paper describes the concept and architecture envisioned for the crossdocking system developed in the scope of the CrossLog Project. One of its main distinguishing characteristics is the use of Autonomous Mobile Robots for performing much of the operations traditionally performed by human operators in today’s logistics centres.