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This book is for researchers, engineers, and students who are
willing to understand how humanoid robots move and be controlled.
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 of multi-body system,
Zero-Moment Point (ZMP) and its relationship with body motion.
Biped walking control is discussed in depth, since it is one of the
main interests of humanoid robotics. Various topics of the whole
body motion generation are also discussed. Finally multi-body
dynamics is presented to simulate the complete dynamic behavior of
a humanoid robot. Throughout the book, Matlab codes are shown to
test the algorithms and to help the reader´s understanding.
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.
This book is for researchers, engineers, and students who are
willing to understand how humanoid robots move and be controlled.
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 of multi-body system,
Zero-Moment Point (ZMP) and its relationship with body motion.
Biped walking control is discussed in depth, since it is one of the
main interests of humanoid robotics. Various topics of the whole
body motion generation are also discussed. Finally multi-body
dynamics is presented to simulate the complete dynamic behavior of
a humanoid robot. Throughout the book, Matlab codes are shown to
test the algorithms and to help the readers understanding.
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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