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Biomimetic Robotics—Mechanisms and Control

Biomimetic Robotics: Mechanisms and Control

by Ranjan Vepa

2009 (360 pages)

ISBN:9780521895941

Including realistic examples and exercises in every chapter, this comprehensive text presents the fundamentals of robotics, from an aerospace perspective, by considering only the field of robot mechanisms.

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Biomimetic Robotics—Mechanisms and Control
Preface
Acronyms
Chapter 1	-	The Robot
Chapter 2	-	Biomimetic Mechanisms
Chapter 3	-	Homogeneous Transformations and Screw Motions
Chapter 4	-	Direct Kinematics of Serial Robot Manipulators
Chapter 5	-	Manipulators with Multiple Postures and Compositions
Chapter 6	-	Grasping—Mechanics and Constraints
Chapter 7	-	Jacobians
Chapter 8	-	Newtonian, Eulerian, and Lagrangian Dynamics
Chapter 9	-	Path Planning, Obstacle Avoidance, and Navigation
Chapter 10	-	Hamiltonian Systems and Feedback Linearization
Chapter 11	-	Robot Control
Chapter 12	-	Biomimetic Motive Propulsion
Answers to Selected Exercises
Appendix	-	Attitude and Quaternions
Bibliography