000			03578nam a22004215i 4500
001			u372860
003			SIRSI
005			20160812084118.0
007			cr nn 008mamaa
008			100810s2010 xxk| s |||| 0|eng d
020			_a9781849962209 _9978-1-84996-220-9
040			_cMX-MeUAM
050		4	_aTJ210.2-211.495
050		4	_aTJ163.12
082	0	4	_a629.8 _223
100	1		_aHarada, Kensuke. _eeditor.
245	1	0	_aMotion Planning for Humanoid Robots _h[recurso electrónico] / _cedited by Kensuke Harada, Eiichi Yoshida, Kazuhito Yokoi.
264		1	_aLondon : _bSpringer London, _c2010.
300			_aXVI, 320p. 157 illus., 5 illus. in color. _bonline resource.
336			_atext _btxt _2rdacontent
337			_acomputer _bc _2rdamedia
338			_aonline resource _bcr _2rdacarrier
347			_atext file _bPDF _2rda
505	0		_aNavigation 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.
520			_aResearch 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.
650		0	_aEngineering.
650	1	4	_aEngineering.
650	2	4	_aControl, Robotics, Mechatronics.
700	1		_aYoshida, Eiichi. _eeditor.
700	1		_aYokoi, Kazuhito. _eeditor.
710	2		_aSpringerLink (Online service)
773	0		_tSpringer eBooks
776	0	8	_iPrinted edition: _z9781849962193
856	4	0	_zLibro electrónico _uhttp://148.231.10.114:2048/login?url=http://link.springer.com/book/10.1007/978-1-84996-220-9
596			_a19
942			_cLIBRO_ELEC
999			_c200740 _d200740