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Historical Perspective and Scope

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Humanoid Robotics: A Reference

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Abstract

This chapter describes a history of the kinematics and dynamics in robotics. First, the progress of four basic computation schemes, namely, forward kinematics, inverse kinematics, forward dynamics, inverse dynamics, and identification of mass properties are briefly reviewed from the viewpoint of both theory and algorithm. Then, some particular issues for anthropomorphic systems are summarized. Mobile robots are commonly modeled as a floating-base kinematic chain, which was first adopted in space robotics. It explains the relationship between the net external forces and the total momentum of the system and shows an importance of the contact dynamics, which is also addressed in the following section, in order to exploit the structure-varying nature. Some representative ground references that are helpful for dealing with contact constraint in a context of control are introduced. Reduced-order models to abstract the dominant dynamics of the system in an intuitive and comprehensive manner are also presented with the techniques for reciprocal mapping of motion and input with the full-scale model. Finally, possible future directions are discussed.

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Authors and Affiliations

  1. Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, 565-0871, 2-1 Yamadaoka, Suita, Osaka, Japan

    Tomomichi Sugihara

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  1. Tomomichi Sugihara
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Correspondence to Tomomichi Sugihara .

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Editors and Affiliations

  1. Intuitive Surgical , Sunnyvale, California, USA

    Ambarish Goswami

  2. Singapore, Singapur, Singapore

    Prahlad Vadakkepat

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Sugihara, T. (2017). Historical Perspective and Scope. In: Goswami, A., Vadakkepat, P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7194-9_1-1

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  • DOI: https://doi.org/10.1007/978-94-007-7194-9_1-1

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  • Publisher Name: Springer, Dordrecht

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  • Online ISBN: 978-94-007-7194-9

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