Description
Humanoid Robots
Modeling and Control
Authors: Nenchev Dragomir N., Konno Atsushi, Tsujita Teppei
Language: English
Subjects for Humanoid Robots:
Keywords
Capture point–based gait generation; Constrained motion; Contact force model; Dynamic object manipulation; Dynamics-based simulation; Force closure; Form closure; Forward/inverse kinematics; Free-floating space robot; Grasp matrix; Hand Jacobian matrix; Humanoid robot dynamics; Impact motion generation; Instantaneous motion; Internal force control; Inverse dynamics with constraints; Kinematic redundancy; Landing position control; Leader-follower-type cooperation; Load distribution; MATLAB/Simulink; Motion generation; Motion optimization; Multiarm object manipulation; Multibody system dynamics; Multifinger grasping; Multirobot cooperation; Quasivelocity; Reaction Null Space–based motion generation; Reactive change-of-BoS; Robot simulator; Simscape Multibody; Singular configuration; Static force/moment; Symmetry-type cooperation; Synergy-based motion generation; Synergy-based reactive balance control; Walking on loose soil
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the book of Nenchev Dragomir N., Konno Atsushi, Tsujita Teppei
508 p. · 19x23.3 cm · Paperback
Description
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Humanoid Robots: Modeling and Control provides systematic presentation of the models used in the analysis, design and control of humanoid robots. The book starts with a historical overview of the field, a summary of the current state of the art achievements and an outline of the related fields of research. It moves on to explain the theoretical foundations in terms of kinematic, kineto-static and dynamic relations. Further on, a detailed overview of biped balance control approaches is presented. Models and control algorithms for cooperative object manipulation with a multi-finger hand, a dual-arm and a multi-robot system are also discussed. One of the chapters is devoted to selected topics from the area of motion generation and control and their applications. The final chapter focuses on simulation environments, specifically on the step-by-step design of a simulator using the Matlab® environment and tools.
This book will benefit readers with an advanced level of understanding of robotics, mechanics and control such as graduate students, academic and industrial researchers and professional engineers. Researchers in the related fields of multi-legged robots, biomechanics, physical therapy and physics-based computer animation of articulated figures can also benefit from the models and computational algorithms presented in the book.
Dr. Atsushi Konno is a Professor at Hokkaido University, Japan. He is a leading robotics expert with 26 years of experience in design, modeling, and control of humanoid robots. His team presented the famous drum beating and martial arts performing humanoid robot at the 2005 Aichi Japan Expo. He has published
more than 60 journal papers and 100 reviewed international conference papers.
Dr. Teppei Tsujita is an Associate Professor at National Defense Academy, Japan. He has been active in robotics research for 9 years, with research interests in humanoid robots, design of haptic devices, magnetorheological fluid, surgery simulators, and their applications. He has published numerous articles in archival journals and given lectures at worldwide conferences such as Advanced Robotics, IEEE International Conference on Intelligent Robots and Systems, and International Journal of Humanoid Robotics.
- Provides a firm theoretical basis for modelling and control algorithm design
- Gives a systematic presentation of models and control algorithms
- Contains numerous implementation examples demonstrated with 43 video clips
