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Introduction to Humanoid Robotics: Springer Tracts in Advanced Robotics, cartea 101

Autor Shuuji Kajita, Hirohisa Hirukawa, Kensuke Harada, Kazuhito Yokoi
en Limba Engleză Hardback – 5 aug 2014
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.
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Specificații

ISBN-13: 9783642545351
ISBN-10: 3642545351
Pagini: 230
Ilustrații: XIV, 222 p. 192 illus., 113 illus. in color.
Dimensiuni: 155 x 235 x 20 mm
Greutate: 4.79 kg
Ediția:2014
Editura: Springer Berlin, Heidelberg
Colecția Springer
Seria Springer Tracts in Advanced Robotics

Locul publicării:Berlin, Heidelberg, Germany

Public țintă

Research

Cuprins

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

Recenzii

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)

Textul de pe ultima copertă

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.

Caracteristici

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