Kajita S., Hirukawa H. Introduction to Humanoid Robotics

2014, XIV, 222 p. 192 illus., 113 illus. in color. — (Springer Tracts in Advanced Robotics, Vol. 101).Concise and understandable book about variational principles of continuum mechanics
Accessible to applied mathematicians, physicists and engineers who have an interest in continuum mechanics
Interesting innovative textbook for graduate students
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.Content Level » Research
Keywords » HRP - Humanoid Robotics - Walking - Whole Body Motion Patterns
Related subjects » Applications - Artificial Intelligence - Mechanical Engineering - RoboticsKinematics.
Zero-Moment-Point and Dynamics
Biped walking
Generation of Whole Body Motion Patterns
Dynamic simulation.