Humanoid Robots: Modeling and Control

Humanoid Robots: Modelling and Control provides the complete and systematic presentation of the models and control algorithms.

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, 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 about the most appropriate control approach for a specific project (humanoid robot, tasks). This book will benefit academics with advanced level of understanding robotics, mechanics and control, postdocs, faculty, engineers and industrial researchers and other specialized research institutions in the field of robotics.

Offers a complete and systematic presentation of the models and control algorithmsThe knowledge in the book will be helpful for timely decisions about the most appropriate control approach for the specific projectContains several examples of implementation and some video clips (companion site)

1. Introduction
2. Kinematics
3. Statics
4. Dynamics
5. Balance Control
6. Cooperative Object Manipulation and Control
7. Motion Generation and Control: Selected TopicsWith Applications
8. Simulation