Authors:
- 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
Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 101)
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Table of contents (6 chapters)
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Front Matter
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Back Matter
About this book
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.
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)Authors and Affiliations
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Intelligent Systems Research Inst. Humanoid Research Group, National Institute of Advanced Industrial Science & Technology (AIST), Tsukuba, Ibaraki, Japan
Shuuji Kajita, Hirohisa Hirukawa, Kensuke Harada, Kazuhito Yokoi
Bibliographic Information
Book Title: Introduction to Humanoid Robotics
Authors: Shuuji Kajita, Hirohisa Hirukawa, Kensuke Harada, Kazuhito Yokoi
Series Title: Springer Tracts in Advanced Robotics
DOI: https://doi.org/10.1007/978-3-642-54536-8
Publisher: Springer Berlin, Heidelberg
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer-Verlag Berlin Heidelberg 2014
Hardcover ISBN: 978-3-642-54535-1Published: 05 August 2014
Softcover ISBN: 978-3-662-50166-5Published: 17 September 2016
eBook ISBN: 978-3-642-54536-8Published: 15 July 2014
Series ISSN: 1610-7438
Series E-ISSN: 1610-742X
Edition Number: 1
Number of Pages: XIV, 222
Number of Illustrations: 79 b/w illustrations, 113 illustrations in colour
Additional Information: Original Japanese edition published by Ohmsha Ltd., Tokyo 2005
Topics: Control, Robotics, Mechatronics, Artificial Intelligence, Machinery and Machine Elements, Systems Theory, Control