Introduction to Humanoid Robotics

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...

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Detalles Bibliográficos
Clasificación:Libro Electrónico
Autores principales: Kajita, Shuuji (Autor), Hirukawa, Hirohisa (Autor), Harada, Kensuke (Autor), Yokoi, Kazuhito (Autor)
Autor Corporativo: SpringerLink (Online service)
Formato: Electrónico eBook
Idioma:Inglés
Publicado: Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2014.
Edición:1st ed. 2014.
Colección:Springer Tracts in Advanced Robotics, 101
Temas:
Control engineering.
Robotics.
Automation.
Artificial intelligence.
Machinery.
System theory.
Control theory.
Control, Robotics, Automation.
Artificial Intelligence.
Machinery and Machine Elements.
Systems Theory, Control .
Acceso en línea:Texto Completo
Descripción
Sumario: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.
Descripción Física:XIV, 222 p. 192 illus., 113 illus. in color. online resource.
ISBN:9783642545368
ISSN:1610-742X ;

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