Biomimetic Robotics: Mechanisms and Control by Ranjan VepaBiomimetic Robotics: Mechanisms and Control by Ranjan Vepa

Biomimetic Robotics: Mechanisms and Control

byRanjan Vepa

Hardcover | January 26, 2009

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This book is written as an initial course in robotics. It is ideal for study of unmanned aerial or underwater vehicles, a topic on which few books exist. It presents the fundamentals of robotics, from an aerospace perspective, by considering only the field of robot mechanisms. For an aerospace engineer, three dimensional and parallel mechanisms - flight simulation, unmanned aerial vehicles, and space robotics - take on an added significance. Biomimetic robot mechanisms are fundamental to manipulators, walking, mobile, and flying robots. As a distinguishing feature, this book gives a unified and integrated treatment of biomimetic robot mechanisms. It is ideal preparation for the next robotics module: practical robot control design. While the book focuses on principles, computational procedures are also given due importance. Students are encouraged to use computational tools to solve the examples in the exercises. The author has also included some additional topics beyond his course coverage for the enthusiastic reader to explore.
Title:Biomimetic Robotics: Mechanisms and ControlFormat:HardcoverDimensions:360 pages, 9.96 × 6.97 × 0.94 inPublished:January 26, 2009Publisher:Cambridge University PressLanguage:English

The following ISBNs are associated with this title:

ISBN - 10:0521895944

ISBN - 13:9780521895941


Table of Contents

1. The robot; 2. Biomimetic mechanisms; 3. Homogeneous transformations and screw motions; 4. Direct kinematics of serial robot manipulators; 5. Manipulators with multiple postures and compositions; 6. Grasping: mechanics and constraints; 7. Jacobians; 8. Newtonian, Eulerian and Lagrangian dynamics; 9. Path planning, obstacle avoidance and navigation; 10. Hamiltonian systems and feedback linearization; 11. Robot control; 12. Biomimetic motive propulsion; Answers to selected exercises; Appendix: attitude and quaternions.

Editorial Reviews

"...a well-organized book for understanding the basic concepts and theories of robotic control. ... The book introduces every aspect in a progressive way, chapter by chapter, helping the reader to get deeper into theory and concepts." Artificial Life