Introduction to Humanoid Robotics [electronic resource] / by Shuuji Kajita, Hirohisa Hirukawa, Kensuke Harada, Kazuhito Yokoi.Material type: TextLanguage: English Series: Springer Tracts in Advanced Robotics: 101Publisher: Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2014Description: XIV, 222 p. 192 illus., 113 illus. in color. online resourceContent type: text Media type: computer Carrier type: online resourceISBN: 9783642545368Subject(s): Engineering | Artificial intelligence | Systems theory | Engineering | Control, Robotics, Mechatronics | Artificial Intelligence (incl. Robotics) | Machinery and Machine Elements | Systems Theory, ControlAdditional physical formats: Printed edition:: No titleDDC classification: 629.8 LOC classification: TJ210.2-211.495TJ163.12Online resources: Click here to access online
Kinematics -- Zero-Moment-Point and Dynamics -- Biped walking -- Generation of Whole Body Motion Patterns -- Dynamic simulation.
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.