Overview

This book is for researchers, engineers, and students who are willing to understand how humanoid robots move and be controlled. The book starts with an overview of the humanoid robotics research history and state of the art. Then it explains the required mathematics and physics such as kinematics of multi-body system, Zero-Moment Point (ZMP) and its relationship with body motion. Biped walking control is discussed in depth, since it is one of the main interests of humanoid robotics. Various topics of the whole body motion generation are also discussed. Finally multi-body dynamics is presented to simulate the complete dynamic behavior of a humanoid robot. Throughout the book, Matlab codes are shown to test the algorithms and to help the reader´s understanding.

Full Product Details

Author:   Shuuji Kajita ,  Hirohisa Hirukawa ,  Kensuke Harada ,  Kazuhito Yokoi
Publisher:   Springer-Verlag Berlin and Heidelberg GmbH & Co. KG
Imprint:   Springer-Verlag Berlin and Heidelberg GmbH & Co. K
Edition:   Softcover reprint of the original 1st ed. 2014
Volume:   101
Dimensions:   Width: 15.50cm , Height: 1.30cm , Length: 23.50cm
Weight:   3.635kg
ISBN:  

9783662501665

ISBN 10:   366250166
Pages:   222
Publication Date:   17 September 2016
Audience:   Professional and scholarly ,  Professional & Vocational
Format:   Paperback
Publisher's Status:   Active
Availability:   Manufactured on demand  
We will order this item for you from a manufactured on demand supplier.

Table of Contents

Kinematics.- Zero-Moment-Point and Dynamics.- Biped walking.- Generation of Whole Body Motion Patterns.- Dynamic simulation.

Reviews

From the book reviews: I very much enjoyed reading this very understandable book, and it is very suitable for students and researchers wishing to complement their studies with other aspects of humanoid robotics ... . It can also be read on its own as a continuation of a course on mathematical mechanics. (Arturo Ortiz-Tapia, Computing Reviews, December, 2014)

From the book reviews: I very much enjoyed reading this very understandable book, and it is very suitable for students and researchers wishing to complement their studies with other aspects of humanoid robotics ... . It can also be read on its own as a continuation of a course on mathematical mechanics. (Arturo Ortiz-Tapia, Computing Reviews, December, 2014)

From the book reviews: I very much enjoyed reading this very understandable book, and it is very suitable for students and researchers wishing to complement their studies with other aspects of humanoid robotics ... . It can also be read on its own as a continuation of a course on mathematical mechanics. (Arturo Ortiz-Tapia, Computing Reviews, December, 2014)

From the book reviews: “I very much enjoyed reading this very understandable book, and it is very suitable for students and researchers wishing to complement their studies with other aspects of humanoid robotics … . It can also be read on its own as a continuation of a course on mathematical mechanics.” (Arturo Ortiz-Tapia, Computing Reviews, December, 2014)

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