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Humanoid robots : modeling and control
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- 作 者：Nenchev, Dragomir N.
- 出 版 社：Butterworth-Heinemann
- 出版时间：
- I S B N：9780128045602
- 页 数：
- 所 属 分 类： 一般性理论
- 供 货 周 期: 6
- 版 次：
- 字 数：
- 开 本：
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'Humanoid Robots' provides systematic presentation of the models used in the analysis, design and control of humanoid robots. The book starts with a historical overview of the field, a summary of the current state of the art achievements and an outline of the related fields of research. It moves on to explain the theoretical foundations in terms of kinematic, kineto-static and dynamic relations. Further on, a detailed overview of biped balance control approaches is presented. Models and control algorithms for cooperative object manipulation with a multi-finger hand, a dual-arm and a multi-robot system are also discussed.
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