Gu E. A Journey from Robot to Digital Human. Mathematical Principles and Applications with MatLAB Programming

Springer-Verlag Berlin Heidelberg, 2013.This book is intended to be a robotics textbook with an extension to digital human modeling and MatLAB programming for both senior undergraduate and graduate engineering students. It can also be a research book for researchers, scientists, and engineers to learn and review the fundamentals of robotic systems as well as the basic methods of digital human modeling and motion generation.
Almost every chapter in the book has a section of exercise problems and/or computer projects, which will be beneficial for students to reinforce their understanding of every concept and algorithm. It is the instructor’s discretion to select sections and chapters to be covered in a single-semester robotics course. In addition, I highly recommend that the instructor teach students
to write a program and draw a robot or a mannequin in MATLABTM with realistic motion by following the basic approaches and illustrations from the book.