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Biomimetic robotics : mechanisms and control / Ranjan Vepa.

By: Publication details: Cambridge : Cambridge University Press, c2009.Description: xvi, 343 p. : ill. ; 26 cmISBN:
  • 0521895944 (hbk.)
  • 9780521895941 (hbk.)
Subject(s): DDC classification:
  • 629.893 VEP
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.
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Includes bibliographical references (p. 335-337) and index.

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.

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