rdf-syntax-grammar
mods:
  schema location: http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
  title info:
    title: Motion Planning for Humanoid Robots
  name:
    name part: Harada, Kensuke.
    role:
      role term: editor.
  name:
    name part: Yoshida, Eiichi.
    role:
      role term: editor.
  name:
    name part: Yokoi, Kazuhito.
    role:
      role term: editor.
  name:
    name part: SpringerLink (Online service)
  type of resource: text
  origin info:
    place:
      place term: xxk
    date issued: 2010
    issuance: monographic
  language:
    language term: eng
  physical description:
    form: electronic
    form: electronic resource
    reformatting quality: access
    form: remote
    extent: XV, 306 p. online resource.
  abstract: Research on humanoid robots has been mostly with the aim of developing robots that can replace humans in the performance of certain tasks. Motion planning for these robots can be quite difficult, due to their complex kinematics, dynamics and environment. It is consequently one of the key research topics in humanoid robotics research and the last few years have witnessed considerable progress in the field. Motion Planning for Humanoid Robots surveys the remarkable recent advancement in both the theoretical and the practical aspects of humanoid motion planning. Various motion planning frameworks are presented in Motion Planning for Humanoid Robots, including one for skill coordination and learning, and one for manipulating and grasping tasks. The problem of planning sequences of contacts that support acyclic motion in a highly constrained environment is addressed and a motion planner that enables a humanoid robot to push an object to a desired location on a cluttered table is described. The main areas of interest include: • whole body motion planning, • task planning, • biped gait planning, and • sensor feedback for motion planning. Torque-level control of multi-contact behavior, autonomous manipulation of moving obstacles, and movement control and planning architecture are also covered. Motion Planning for Humanoid Robots will help readers to understand the current research on humanoid motion planning. It is written for industrial engineers, advanced undergraduate and postgraduate students.
  table of contents: Navigation and Gait Planning -- Compliant Control of Whole-body Multi-contact Behaviors in Humanoid Robots -- Whole-body Motion Planning – Building Blocks for Intelligent Systems -- Planning Whole-body Humanoid Locomotion, Reaching, and Manipulation -- Efficient Motion and Grasp Planning for Humanoid Robots -- Multi-contact Acyclic Motion Planning and Experiments on HRP-2 Humanoid -- Motion Planning for a Humanoid Robot Based on a Biped Walking Pattern Generator -- Autonomous Manipulation of Movable Obstacles -- Multi-modal Motion Planning for Precision Pushing on a Humanoid Robot -- A Motion Planning Framework for Skill Coordination and Learning.
  note: edited by Kensuke Harada, Eiichi Yoshida, Kazuhito Yokoi.
  subject:
    topic: Engineering
  subject:
    topic: Control engineering
  subject:
    topic: Robotics
  subject:
    topic: Mechatronics
  subject:
    topic: Engineering
  subject:
    topic: Control, Robotics, Mechatronics
  classification: TJ210.2-211.495
  classification: TJ163.12
  classification: 629.8
  related item:
    title info:
      title: Springer eBooks
  identifier: 9781849962209
  identifier: http://dx.doi.org/10.1007/978-1-84996-220-9
  record info:
    record creation date: 100810
    record change date: 20151204173118.0
    record identifier: 978-1-84996-220-9