Humanoid Robots: Modelling and Control

Humanoid Robots: Modelling and Control provides a complete and systematic presentation of the models and control algorithms surrounding humanoid robots. The book starts with an overview of research history and current state-of-the-art. Next, the required mathematics and physics is explained, including 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 on the most appropriate control approach for a specific project (humanoid robot, tasks). This book will benefit academics with an advanced level of understanding on robotics, mechanics and control, postdocs, faculty, engineers, industrial researchers and other specialized research institutions in the field of robotics. Offers a complete and systematic presentation of models and control algorithmsHelps readers make timely decisions on the most appropriate control approach for a specific projectContains several examples of implementation and some video clips (available on a companion site) INDICE: 1. Introduction2. Kinematics3. Dynamics4. Control of humanoids5. Balance control6. Gait control7. Object manipulation control8. Whole body control

• ISBN: 9780128045602
• Editorial: Butterworth-Heinemann
• Encuadernacion: Rústica
• Páginas: 450
• Fecha Publicación: 01/10/2018
• Nº Volúmenes: 1
• Idioma: Inglés