TY  - BOOK
AU  - Kajita,Shuuji
AU  - Hirukawa,Hirohisa
AU  - Harada,Kensuke
AU  - Yokoi,Kazuhito
TI  - Introduction to Humanoid Robotics 
T2  - Springer Tracts in Advanced Robotics,
SN  - 9783642545368
AV  - TJ210.2-211.495 
PY  - 2014///
CY  - Berlin, Heidelberg
PB  - Springer Berlin Heidelberg, Imprint: Springer
KW  - System theory
KW  - Machinery
KW  - Control engineering
KW  - Robotics
KW  - Mechatronics
KW  - Engineering
KW  - Artificial Intelligence (incl. Robotics)
KW  - Machine Elements
N1  - Kinematics -- Zero-Moment-Point and Dynamics -- Biped walking -- Generation of Whole Body Motion Patterns -- Dynamic simulation
N2  - 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
UR  - http://dx.doi.org/10.1007/978-3-642-54536-8
ER  -