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 algorithms
- Helps readers make timely decisions on the most appropriate control approach for a specific project
- Contains several examples of implementation and some video clips (available on a companion site)
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.