Humanoid Robots Modelling And Control Dragomir N Nenchev Atsushi Konno by Dragomir N. Nenchev, Atsushi Konno, Teppei Tsujita 9780128045602, 0128045604 instant download after payment.

Humanoid Robots: Modeling and Controlprovides 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(R) 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. 

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