Table of contents

  1. Front Matter
    Pages i-xliv
  2. History of Humanoid Robots

    1. Front Matter
      Pages 1-1
    2. Bruno Siciliano, Oussama Khatib
      Pages 3-8
    3. Yannick Aoustin, Christine Chevallereau, Jean-Paul Laumond
      Pages 19-34
  3. Development Story of 14 Famous Humanoid Robots

    1. Front Matter
      Pages 53-53
    2. Satoshi Shigemi
      Pages 55-90
    3. Brian Scassellati
      Pages 91-100
    4. Shuuji Kajita
      Pages 101-116
    5. Jung-Woo Heo, Jungho Lee, In-Ho Lee, Jeongsoo Lim, Jun-Ho Oh
      Pages 117-129
    6. Thomas Buschmann, Michael Gienger
      Pages 131-146
    7. NAO
      Rodolphe Gelin
      Pages 147-168
    8. Gabe Nelson, Aaron Saunders, Robert Playter
      Pages 169-186
    9. Kenichiro Nagasaka
      Pages 187-200
    10. John Yamokoski, Nicolaus Radford
      Pages 201-214
    11. Masahiro Doi, Yuichiro Nakajima
      Pages 215-264
    12. Kenji Hashimoto, Atsuo Takanishi
      Pages 265-289
    13. Lorenzo Natale, Chiara Bartolozzi, Francesco Nori, Giulio Sandini, Giorgio Metta
      Pages 291-323
    14. Fraser Smith
      Pages 325-335
    15. Tamim Asfour, Rüdiger Dillmann, Nikolaus Vahrenkamp, Martin Do, Mirko Wächter, Christian Mandery et al.
      Pages 337-368
  4. Humanoid Mechanism and Design

    1. Front Matter
      Pages 369-369
    2. Kensuke Harada
      Pages 371-376
    3. Sebastian Lohmeier
      Pages 377-405
    4. Nikos G. Tsagarakis, Gustavo Medrano Cerda, Darwin G. Caldwell
      Pages 407-434
    5. Ko Yamamoto
      Pages 435-456
    6. Hiroshi Kaminaga
      Pages 457-479
    7. Markus Grebenstein, Maxime Chalon, Máximo A. Roa, Christoph Borst
      Pages 481-522
    8. Clément Gosselin
      Pages 523-533
    9. Ashish D. Deshpande
      Pages 553-570
    10. Tatsuhiro Kishi, Kenji Hashimoto, Atsuo Takanishi
      Pages 571-596
    11. Shuuji Kajita
      Pages 597-613
    12. Taejin Jung, Jeongsoo Lim, Hyoin Bae, Jun-Ho Oh
      Pages 615-635
    13. Christian Ott, Máximo A. Roa, Florian Schmidt, Werner Friedl, Johannes Englsberger, Robert Burger et al.
      Pages 637-662
  5. Humanoid Kinematics and Dynamics

    1. Front Matter
      Pages 663-663
    2. Tomomichi Sugihara
      Pages 665-674
    3. Dragomir Nenchev
      Pages 675-721
    4. Tomomichi Sugihara, Yasutaka Fujimoto
      Pages 723-754
    5. Hubert Gattringer, Andreas Mueller
      Pages 755-783
    6. Tomomichi Sugihara
      Pages 785-809
    7. Tomomichi Sugihara, Katsu Yamane
      Pages 811-848
    8. Gentiane Venture, Ko Ayusawa
      Pages 849-871
    9. Katsu Yamane, Akihiko Murai
      Pages 873-892
    10. Michael Gienger, Jochen J. Steil
      Pages 893-902
  6. Humanoid Control

    1. Front Matter
      Pages 903-903
    2. Shuuji Kajita
      Pages 905-922
    3. Hartmut Geyer, Uluc Saranli
      Pages 923-947
    4. Fumihiko Asano
      Pages 949-978
    5. Hartmut Geyer, André Seyfarth
      Pages 979-1007

About this book


Humanoid Robotics: a Reference provides a comprehensive compilation of developments in the conceptualization, design and development of humanoid robots and related technologies. Human beings have built the environment they occupy (living spaces, instruments and vehicles) to suit two-legged systems. Building systems, especially in robotics, that are compatible with the well-established, human-based surroundings and which could naturally interact with humans is an ultimate goal for all researches and engineers. Humanoid Robots are systems (i.e. robots) which mimic human behavior. Humanoids provide a platform to study the construction of systems that behave and interact like humans. A broad range of applications ranging from daily housework to complex medical surgery, deep ocean exploration, and other potentially dangerous tasks are possible using humanoids. In addition, the study of humanoid robotics provides a platform to understand the mechanisms and offers a physical visual of how humans interact, think, and react with the surroundings and how such behaviors could be reassembled and reconstructed. Currently, the most challenging issue with bipedal humanoids is to make them balance on two legs, The purportedly simple act of finding the best balance that enables easy walking, jumping and running requires some of the most sophisticated development of robotic systems- those that will ultimately mimic fully the diversity and dexterity of human beings. Other typical human-like interactions such as complex thought and conversations on the other hand, also pose barriers for the development of humanoids because we are yet to understand fully the way in which we humans interact with our environment and consequently to replicate this in humanoids.


Bipedal systems Human robot interaction Humanoid design Humanoid dynamics Humanoid kinematics

Editors and affiliations

  • Ambarish Goswami
    • 1
  • Prahlad Vadakkepat
    • 2
  1. 1.Intuitive SurgicalSunnyvaleUSA
  2. 2.Department of Electrical and Computer EngineeringNational University of SingaporeSingaporeSingapore

Bibliographic information