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Books > Professional & Technical > Electronics & communications engineering > Electronics engineering > Automatic control engineering
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Motion Planning for Humanoid Robots (Hardcover, 2010 Ed.)
Loot Price: R4,540
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Motion Planning for Humanoid Robots (Hardcover, 2010 Ed.)
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Research on humanoid robots has been mostly with the aim of
developing robots that can replace humans in the performance of
certain tasks. Motion planning for these robots can be quite
difficult, due to their complex kinematics, dynamics and
environment. It is consequently one of the key research topics in
humanoid robotics research and the last few years have witnessed
considerable progress in the field. Motion Planning for Humanoid
Robots surveys the remarkable recent advancement in both the
theoretical and the practical aspects of humanoid motion planning.
Various motion planning frameworks are presented in Motion Planning
for Humanoid Robots, including one for skill coordination and
learning, and one for manipulating and grasping tasks. The problem
of planning sequences of contacts that support acyclic motion in a
highly constrained environment is addressed and a motion planner
that enables a humanoid robot to push an object to a desired
location on a cluttered table is described. The main areas of
interest include: * whole body motion planning, * task planning, *
biped gait planning, and * sensor feedback for motion planning.
Torque-level control of multi-contact behavior, autonomous
manipulation of moving obstacles, and movement control and planning
architecture are also covered. Motion Planning for Humanoid Robots
will help readers to understand the current research on humanoid
motion planning. It is written for industrial engineers, advanced
undergraduate and postgraduate students.
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