Introduction to Humanoid Robotics

  • Shuuji Kajita
  • Hirohisa Hirukawa
  • Kensuke Harada
  • Kazuhito Yokoi

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 101)

Table of contents

  1. Front Matter
    Pages 1-12
  2. Shuuji Kajita, Hirohisa Hirukawa, Kensuke Harada, Kazuhito Yokoi
    Pages 1-17
  3. Shuuji Kajita, Hirohisa Hirukawa, Kensuke Harada, Kazuhito Yokoi
    Pages 19-67
  4. Shuuji Kajita, Hirohisa Hirukawa, Kensuke Harada, Kazuhito Yokoi
    Pages 69-103
  5. Shuuji Kajita, Hirohisa Hirukawa, Kensuke Harada, Kazuhito Yokoi
    Pages 105-158
  6. Shuuji Kajita, Hirohisa Hirukawa, Kensuke Harada, Kazuhito Yokoi
    Pages 159-182
  7. Shuuji Kajita, Hirohisa Hirukawa, Kensuke Harada, Kazuhito Yokoi
    Pages 183-210
  8. Back Matter
    Pages 211-222

About this book

Introduction

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.

Keywords

HRP Humanoid Robotics Walking Whole Body Motion Patterns

Authors and affiliations

  • Shuuji Kajita
    • 1
  • Hirohisa Hirukawa
    • 2
  • Kensuke Harada
    • 3
  • Kazuhito Yokoi
    • 4
  1. 1.Intelligent Systems Research Inst. Humanoid Research GroupNational Institute of Advanced Industrial Science & Technology (AIST)Tsukuba, IbarakiJapan
  2. 2.Intelligent Systems Research Inst. Humanoid Research GroupNational Institute of Advanced Industrial Science & Technology (AIST)Tsukuba, IbarakiJapan
  3. 3.Intelligent Systems Research Inst. Humanoid Research GroupNational Institute of Advanced Industrial Science & Technology (AIST)Tsukuba, IbarakiJapan
  4. 4.Intelligent Systems Research Inst. Humanoid Research GroupNational Institute of Advanced Industrial Science & Technology (AIST)Tsukuba, IbarakiJapan

Bibliographic information

  • DOI https://doi.org/10.1007/978-3-642-54536-8
  • Copyright Information Springer-Verlag Berlin Heidelberg 2014
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering
  • Print ISBN 978-3-642-54535-1
  • Online ISBN 978-3-642-54536-8
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • About this book