Humanoid Robots
Modelling and Control

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Language: Anglais
Cover of the book Humanoid Robots

Subject for Humanoid Robots

145.45 €

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450 p. · 15.2x22.9 cm · Paperback

Humanoid Robots: Modelling and Control provides the complete and systematic presentation of the models and control algorithms.

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, dynamics, Zero-Moment Point (ZMP) and its relationship with body motion. Various topics on the control of humanoids, balance control, gait control, and object manipulation control are also discussed. Finally whole body control is presented to simulate the complete dynamic behavior of a humanoid robot.

The knowledge in the book will be helpful for timely decisions about the most appropriate control approach for a specific project (humanoid robot, tasks). This book will benefit academics with advanced level of understanding robotics, mechanics and control, postdocs, faculty, engineers and industrial researchers and other specialized research institutions in the field of robotics.



  • Offers a complete and systematic presentation of the models and control algorithms
  • The knowledge in the book will be helpful for timely decisions about the most appropriate control approach for the specific project
  • Contains several examples of implementation and some video clips (companion site)
1. Introduction
2. Kinematics
3. Dynamics
4. Control of humanoids
5. Balance control
6. Gait control
7. Object manipulation control
8. Whole body control
Dragomir N. Nenchev is a leading robotics expert with 35 years of experience in robotics, focusing on modelling and motion control of redundant robots, parallel-link robots, free-floating space robots, flexible-base robots, humanoid robots and home robots. He is senior member of IEEE, member of the Robotics Society of Japan, the Japanese Society of Mechanical Engineers and the Society of Instrumentation and Control Engineers.
Atsushi Konno is a leading robotics expert with experience in design, modeling and control of humanoid robots. His team presented the famous drum beating and martial arts performing humanoid robot at 2005 Aichi Japan Expo. He has published more than 100 articles.
Teppei Tsujita is active in robotics research for 9 years, with research interests on humanoid robots, design of haptic devices, magnetorheological fluid, surgery simulators, and their applications. He have numerous publications in archival journals and at worldwide conferences such as Advanced Robotics, IEEE International Conference on Intelligent Robots and Systems, International Journal of Humanoid Robotics.