MARC details
| 000 -LEADER |
|---|
| fixed length control field |
12202cam a2200409 i 4500 |
| 005 - DATE AND TIME OF LATEST TRANSACTION |
|---|
| control field |
20221101232536.0 |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION |
|---|
| fixed length control field |
100921s2010 enka b 000 0 eng d |
| 011 ## - LINKING LIBRARY OF CONGRESS CONTROL NUMBER [OBSOLETE] |
|---|
| Local cataloguing issues note |
BIB MATCHES WORLDCAT |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER |
|---|
| International Standard Book Number |
1849962197 |
| Qualifying information |
cased |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER |
|---|
| International Standard Book Number |
9781849962193 |
| Qualifying information |
cased |
| 035 ## - SYSTEM CONTROL NUMBER |
|---|
| System control number |
(ATU)b11796613 |
| 035 ## - SYSTEM CONTROL NUMBER |
|---|
| System control number |
(OCoLC)619946117 |
| 040 ## - CATALOGING SOURCE |
|---|
| Original cataloging agency |
UKM |
| Language of cataloging |
eng |
| Description conventions |
rda |
| Transcribing agency |
UKM |
| Modifying agency |
C#P |
| -- |
YDXCP |
| -- |
ATU |
| 042 ## - AUTHENTICATION CODE |
|---|
| Authentication code |
ukblsr |
| 050 #4 - LIBRARY OF CONGRESS CALL NUMBER |
|---|
| Classification number |
TJ211.4 |
| Item number |
.M68 2010 |
| 082 04 - DEWEY DECIMAL CLASSIFICATION NUMBER |
|---|
| Classification number |
629.892 |
| Edition number |
22 |
| 245 00 - TITLE STATEMENT |
|---|
| Title |
Motion planning for humanoid robots / |
| Statement of responsibility, etc. |
Kensuke Harada, Eiichi Yoshida, Kazuhito Yokoi, editors. |
| 264 #1 - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE |
|---|
| Place of production, publication, distribution, manufacture |
London : |
| Name of producer, publisher, distributor, manufacturer |
Springer, |
| Date of production, publication, distribution, manufacture, or copyright notice |
2010. |
| 300 ## - PHYSICAL DESCRIPTION |
|---|
| Extent |
xv, 306 pages : |
| Other physical details |
illustrations (some colour) ; |
| Dimensions |
24 cm |
| 336 ## - CONTENT TYPE |
|---|
| Content type term |
text |
| Content type code |
txt |
| Source |
rdacontent |
| 337 ## - MEDIA TYPE |
|---|
| Media type term |
unmediated |
| Media type code |
n |
| Source |
rdamedia |
| 338 ## - CARRIER TYPE |
|---|
| Carrier type term |
volume |
| Carrier type code |
nc |
| Source |
rdacarrier |
| 504 ## - BIBLIOGRAPHY, ETC. NOTE |
|---|
| Bibliography, etc. note |
Includes bibliographical references. |
| 505 0# - FORMATTED CONTENTS NOTE |
|---|
| Formatted contents note |
1. Navigation and Gait Planning / Joel Chestnutt -- 2. Compliant Control of Whole-body Multi-contact Behaviors in Humanoid Robots / Luis Sentis -- 3. Whole-body Motion Planning - Building Blocks for Intelligent Systems / Michael Gienger, Marc Toussaint and Christian Goerick -- 4. Planning Whole-body Humanoid Locomotion, Reaching, and Manipulation / Eiichi Yoshida, Claudia Esteves, Oussama Kanoun, Mathieu Poirier, Anthony Mallet, Jean-Paul Laumond and Kazuhito Yokoi -- 5. Efficient Motion and Grasp Planning for Humanoid Robots / Nikolaus Vahrenkamp, Tamim Asfour and R¨udiger Dillmann -- 6. Multi-contact Acyclic Motion Planning and Experiments on HRP-2 Humanoid / Adrien Escande and Abderrahmane Kheddar -- 7. Motion Planning for a Humanoid Robot Based on a Biped Walking Pattern Generator / Kensuke Harada -- 8. Autonomous Manipulation of Movable Obstacles / Mike Stilman -- 9. Multi-modal Motion Planning for Precision Pushing on a Humanoid Robot / Kris Hauser and Victor Ng-Thow-Hing -- 10. A Motion Planning Framework for Skill Coordination and Learning / Marcelo Kallmann and Xiaoxi Jiang -- -- |
| 505 00 - FORMATTED CONTENTS NOTE |
|---|
| Miscellaneous information |
1. |
| Title |
Navigation and Gait Planning / |
| Statement of responsibility |
Joel Chestnutt -- |
| Miscellaneous information |
1.1. |
| Title |
Introduction -- |
| Miscellaneous information |
1.1.1. |
| Title |
Navigation Planning -- |
| Miscellaneous information |
1.1.2. |
| Title |
Navigation and Legs -- |
| Miscellaneous information |
1.2. |
| Title |
Dimensionality Reductions -- |
| Miscellaneous information |
1.3. |
| Title |
Contact Forces and Hybrid Dynamics -- |
| Miscellaneous information |
1.4. |
| Title |
Stance Connectivity -- |
| Miscellaneous information |
1.5. |
| Title |
Terrain Evaluation -- |
| Miscellaneous information |
1.6. |
| Title |
A Simple Example -- |
| Miscellaneous information |
1.6.1. |
| Title |
Environment Representation -- |
| Miscellaneous information |
1.6.2. |
| Title |
The State Space -- |
| Miscellaneous information |
1.6.3. |
| Title |
The Action Model -- |
| Miscellaneous information |
1.6.4. |
| Title |
The State-Action Evaluation Function -- |
| Miscellaneous information |
1.6.5. |
| Title |
Using the Simple Planner -- |
| Miscellaneous information |
1.7. |
| Title |
Estimated Cost Heuristic -- |
| Miscellaneous information |
1.8. |
| Title |
Limited-time and Tiered Planning -- |
| Miscellaneous information |
1.9. |
| Title |
Adaptive Actions -- |
| Miscellaneous information |
1.9.1. |
| Title |
Adaptation Algorithm -- |
| Miscellaneous information |
1.10. |
| Title |
Robot and Environment Dynamics -- |
| Miscellaneous information |
1.11. |
| Title |
Summary -- -- |
| Miscellaneous information |
2. |
| Title |
Compliant Control of Whole-body Multi-contact Behaviors in Humanoid Robots / |
| Statement of responsibility |
Luis Sentis -- |
| Miscellaneous information |
2.1. |
| Title |
Introduction -- |
| Miscellaneous information |
2.2. |
| Title |
Modeling Humanoids Under Multi-contact Constraints -- |
| Miscellaneous information |
2.2.1. |
| Title |
Kinematic and Dynamic Models -- |
| Miscellaneous information |
2.2.2. |
| Title |
Task Kinematics and Dynamics Under Supporting Constraints -- |
| Miscellaneous information |
2.2.3. |
| Title |
Modeling of Contact Centers of Pressure, Internal Forces, and Co MBehavior -- |
| Miscellaneous information |
2.2.4. |
| Title |
Friction Boundaries for Planning Co Mand Internal Force Behaviors -- |
| Miscellaneous information |
2.3. |
| Title |
Prioritized Whole-body Torque Control -- |
| Miscellaneous information |
2.3.1. |
| Title |
Representation of Whole-body Skills -- |
| Miscellaneous information |
2.3.2. |
| Title |
Prioritized Torque Control -- |
| Miscellaneous information |
2.3.3. |
| Title |
Real-time Handling of Dynamic Constraints -- |
| Miscellaneous information |
2.3.4. |
| Title |
Task Feasibility -- |
| Miscellaneous information |
2.3.5. |
| Title |
Control of Contact Centers of Pressure and Internal Tensions/Moments -- |
| Miscellaneous information |
2.4. |
| Title |
Simulation Results -- |
| Miscellaneous information |
2.4.1. |
| Title |
Multi-contact Behavior -- |
| Miscellaneous information |
2.4.2. |
| Title |
Real-time Response to Dynamic Constraints -- |
| Miscellaneous information |
2.4.3. |
| Title |
Dual Arm Manipulation -- |
| Miscellaneous information |
2.5. |
| Title |
Conclusion and Discussion -- -- |
| Miscellaneous information |
3. |
| Title |
Whole-body Motion Planning - Building Blocks for Intelligent Systems / |
| Statement of responsibility |
Michael Gienger, Marc Toussaint and Christian Goerick -- |
| Miscellaneous information |
3.1. |
| Title |
Introduction -- |
| Miscellaneous information |
3.2. |
| Title |
Models for Movement Control and Planning -- |
| Miscellaneous information |
3.2.1. |
| Title |
Control System -- |
| Miscellaneous information |
3.2.2. |
| Title |
Trajectory Generation -- |
| Miscellaneous information |
3.2.3. |
| Title |
Task Relaxation: Displacement Intervals -- |
| Miscellaneous information |
3.3. |
| Title |
Stance Point Planning -- |
| Miscellaneous information |
3.4. |
| Title |
Prediction and Action Selection -- |
| Miscellaneous information |
3.4.1. |
| Title |
Visual Perception -- |
| Miscellaneous information |
3.4.2. |
| Title |
Behavior System -- |
| Miscellaneous information |
3.4.3. |
| Title |
Experiments -- |
| Miscellaneous information |
3.5. |
| Title |
Trajectory Optimization -- |
| Miscellaneous information |
3.6. |
| Title |
Planning Reaching and Grasping -- |
| Miscellaneous information |
3.6.1. |
| Title |
Acquisition of Task Maps for Grasping -- |
| Miscellaneous information |
3.6.2. |
| Title |
Integration into Optimization Procedure -- |
| Miscellaneous information |
3.6.3. |
| Title |
Experiments -- |
| Miscellaneous information |
3.7. |
| Title |
Conclusion -- -- |
| Miscellaneous information |
4. |
| Title |
Planning Whole-body Humanoid Locomotion, Reaching, and Manipulation / |
| Statement of responsibility |
Eiichi Yoshida, Claudia Esteves, Oussama Kanoun, Mathieu Poirier, Anthony Mallet, Jean-Paul Laumond and Kazuhito Yokoi -- |
| Miscellaneous information |
4.1. |
| Title |
Introduction -- |
| Miscellaneous information |
4.1.1. |
| Title |
Basic Motion Planning Methods -- |
| Miscellaneous information |
4.1.2. |
| Title |
Hardware and Software Platform -- |
| Miscellaneous information |
4.2. |
| Title |
Collision-free Locomotion: Iterative Two-stage Approach -- |
| Miscellaneous information |
4.2.1. |
| Title |
Two-stage Planning Framework -- |
| Miscellaneous information |
4.2.2. |
| Title |
Second Stage: Smooth Path Reshaping -- |
| Miscellaneous information |
4.3. |
| Title |
Reaching: Generalized Inverse Kinematic Approach -- |
| Miscellaneous information |
4.3.1. |
| Title |
Method Overview -- |
| Miscellaneous information |
4.3.2. |
| Title |
Generalized Inverse Kinematics for Whole-body Motion -- |
| Miscellaneous information |
4.3.3. |
| Title |
Results -- |
| Miscellaneous information |
4.4. |
| Title |
Manipulation: Pivoting a Large Object -- |
| Miscellaneous information |
4.4.1. |
| Title |
Pivoting and Small-time Controllability -- |
| Miscellaneous information |
4.4.2. |
| Title |
Collision-free pivoting sequence planning -- |
| Miscellaneous information |
4.4.3. |
| Title |
Whole-body Motion Generation and Experiments -- |
| Miscellaneous information |
4.4.4. |
| Title |
Regrasp Planning -- |
| Miscellaneous information |
4.5. |
| Title |
Motion in Real World: Integratingwith Perception -- |
| Miscellaneous information |
4.5.1. |
| Title |
Object Recognition and Localization -- |
| Miscellaneous information |
4.5.2. |
| Title |
Coupling the Motion Plannerwith Perception -- |
| Miscellaneous information |
4.5.3. |
| Title |
Experiments -- |
| Miscellaneous information |
4.6. |
| Title |
Conclusion -- -- |
| Miscellaneous information |
5. |
| Title |
Efficient Motion and Grasp Planning for Humanoid Robots / |
| Statement of responsibility |
Nikolaus Vahrenkamp, Tamim Asfour and R¨udiger Dillmann -- |
| Miscellaneous information |
5.1. |
| Title |
Introduction -- |
| Miscellaneous information |
5.1.1. |
| Title |
RRT-based Planning -- |
| Miscellaneous information |
5.1.2. |
| Title |
The Motion Planning Framework -- |
| Miscellaneous information |
5.2. |
| Title |
Collision Checks and Distance Calculations -- |
| Miscellaneous information |
5.3. |
| Title |
Weighted Sampling -- |
| Miscellaneous information |
5.4. |
| Title |
Planning Grasping Motions -- |
| Miscellaneous information |
5.4.1. |
| Title |
Predefined Grasps -- |
| Miscellaneous information |
5.4.2. |
| Title |
Randomized IK-solver -- |
| Miscellaneous information |
5.4.3. |
| Title |
RRT-based Planning of Grasping Motions with a Set of Grasps -- |
| Miscellaneous information |
5.5. |
| Title |
Dual Arm Motion Planning for Re-grasping -- |
| Miscellaneous information |
5.5.1. |
| Title |
Dual Arm IK-solver -- |
| Miscellaneous information |
5.5.2. |
| Title |
Reachability Space -- |
| Miscellaneous information |
5.5.3. |
| Title |
Gradient Descent in Reachability Space -- |
| Miscellaneous information |
5.5.4. |
| Title |
Dual Arm J+-RRT -- |
| Miscellaneous information |
5.5.5. |
| Title |
Dual Arm IK-RRT -- |
| Miscellaneous information |
5.5.6. |
| Title |
Planning Hand-off Motions for Two Robots -- |
| Miscellaneous information |
5.5.7. |
| Title |
Experiment on ARMAR-III -- |
| Miscellaneous information |
5.6. |
| Title |
Adaptive Planning -- |
| Miscellaneous information |
5.6.1. |
| Title |
Adaptively Changing the Complexity for Planning -- |
| Miscellaneous information |
5.6.2. |
| Title |
A 3D Example -- |
| Miscellaneous information |
5.6.3. |
| Title |
Adaptive Planning for ARMAR-III -- |
| Miscellaneous information |
5.6.4. |
| Title |
Extensions to Improve the Planning Performance -- |
| Miscellaneous information |
5.6.5. |
| Title |
Experiments -- |
| Miscellaneous information |
5.7. |
| Title |
Conclusion -- -- |
| Miscellaneous information |
6. |
| Title |
Multi-contact Acyclic Motion Planning and Experiments on HRP-2 Humanoid / |
| Statement of responsibility |
Adrien Escande and Abderrahmane Kheddar -- |
| Miscellaneous information |
6.1. |
| Title |
Introduction -- |
| Miscellaneous information |
6.2. |
| Title |
Overview of the Planner -- |
| Miscellaneous information |
6.3. |
| Title |
Posture Generator -- |
| Miscellaneous information |
6.4. |
| Title |
Contact Planning -- |
| Miscellaneous information |
6.4.1. |
| Title |
Set of Contacts Generation -- |
| Miscellaneous information |
6.4.2. |
| Title |
Rough Trajectory -- |
| Miscellaneous information |
6.4.3. |
| Title |
Using Global Potential Field as Local Optimization Criterion -- |
| Miscellaneous information |
6.5. |
| Title |
Simulation Scenarios -- |
| Miscellaneous information |
6.6. |
| Title |
Experimentation on HRP-2 -- |
| Miscellaneous information |
6.7. |
| Title |
Conclusion -- -- |
| Miscellaneous information |
7. |
| Title |
Motion Planning for a Humanoid Robot Based on a Biped Walking Pattern Generator / |
| Statement of responsibility |
Kensuke Harada -- |
| Miscellaneous information |
7.1. |
| Title |
Introduction -- |
| Miscellaneous information |
7.2. |
| Title |
Gait Generation Method -- |
| Miscellaneous information |
7.2.1. |
| Title |
Analytical-solution-based Approach -- |
| Miscellaneous information |
7.2.2. |
| Title |
Online Gait Generation -- |
| Miscellaneous information |
7.2.3. |
| Title |
Experiment -- |
| Miscellaneous information |
7.3. |
| Title |
Whole-body Motion Planning -- |
| Miscellaneous information |
7.3.1. |
| Title |
Definitions -- |
| Miscellaneous information |
7.3.2. |
| Title |
Walking Pattern Generation -- |
| Miscellaneous information |
7.3.3. |
| Title |
Collision-free Motion Planner -- |
| Miscellaneous information |
7.3.4. |
| Title |
Results -- |
| Miscellaneous information |
7.4. |
| Title |
Simultaneous Foot-place/Whole-body Motion Planning -- |
| Miscellaneous information |
7.4.1. |
| Title |
Definitions -- |
| Miscellaneous information |
7.4.2. |
| Title |
Gait Pattern Generation -- |
| Miscellaneous information |
7.4.3. |
| Title |
Overall Algorithm -- |
| Miscellaneous information |
7.4.4. |
| Title |
Experiment -- |
| Miscellaneous information |
7.5. |
| Title |
Whole-body Manipulation -- |
| Miscellaneous information |
7.5.1. |
| Title |
Motion Modification -- |
| Miscellaneous information |
7.5.2. |
| Title |
Force-controlled Pushing Manipulation -- |
| Miscellaneous information |
7.6. |
| Title |
Conclusion -- -- |
| Miscellaneous information |
8. |
| Title |
Autonomous Manipulation of Movable Obstacles / |
| Statement of responsibility |
Mike Stilman -- |
| Miscellaneous information |
8.1. |
| Title |
Introduction -- |
| Miscellaneous information |
8.1.1. |
| Title |
Planning Challenges -- |
| Miscellaneous information |
8.1.2. |
| Title |
Operators -- |
| Miscellaneous information |
8.1.3. |
| Title |
Action Spaces -- |
| Miscellaneous information |
8.1.4. |
| Title |
Complexity of Search -- |
| Miscellaneous information |
8.2. |
| Title |
NAMO Planning -- |
| Miscellaneous information |
8.2.1. |
| Title |
Overview -- |
| Miscellaneous information |
8.2.2. |
| Title |
Configuration Space -- |
| Miscellaneous information |
8.2.3. |
| Title |
Goals for Navigation -- |
| Miscellaneous information |
8.2.4. |
| Title |
Goals for Manipulation -- |
| Miscellaneous information |
8.2.5. |
| Title |
Planning as Graph Search -- |
| Miscellaneous information |
8.2.6. |
| Title |
Planner Prototype -- |
| Miscellaneous information |
8.2.7. |
| Title |
Summary -- |
| Miscellaneous information |
8.3. |
| Title |
Humanoid Manipulation -- |
| Miscellaneous information |
8.3.1. |
| Title |
Background -- |
| Miscellaneous information |
8.3.2. |
| Title |
Biped Controlwith External Forces -- |
| Miscellaneous information |
8.3.3. |
| Title |
Modeling Object Dynamics -- |
| Miscellaneous information |
8.3.4. |
| Title |
Experiments and Results -- |
| Miscellaneous information |
8.3.5. |
| Title |
Summary -- |
| Miscellaneous information |
8.4. |
| Title |
System Integration -- |
| Miscellaneous information |
8.4.1. |
| Title |
From Planning to Execution -- |
| Miscellaneous information |
8.4.2. |
| Title |
Measurement -- |
| Miscellaneous information |
8.4.3. |
| Title |
Planning -- |
| Miscellaneous information |
8.4.4. |
| Title |
Uncertainty -- |
| Miscellaneous information |
8.4.5. |
| Title |
Results -- -- |
| Miscellaneous information |
9. |
| Title |
Multi-modal Motion Planning for Precision Pushing on a Humanoid Robot / |
| Statement of responsibility |
Kris Hauser and Victor Ng-Thow-Hing -- |
| Miscellaneous information |
9.1. |
| Title |
Introduction -- |
| Miscellaneous information |
9.2. |
| Title |
Background -- |
| Miscellaneous information |
9.2.1. |
| Title |
Pushing -- |
| Miscellaneous information |
9.2.2. |
| Title |
Multi-modal Planning -- |
| Miscellaneous information |
9.2.3. |
| Title |
Complexity and Completeness -- |
| Miscellaneous information |
9.3. |
| Title |
Problem Definition -- |
| Miscellaneous information |
9.3.1. |
| Title |
Configuration Space -- |
| Miscellaneous information |
9.3.2. |
| Title |
Modes -- |
| Miscellaneous information |
9.3.3. |
| Title |
Transitions -- |
| Miscellaneous information |
9.4. |
| Title |
Single-mode Motion Planning -- |
| Miscellaneous information |
9.4.1. |
| Title |
Collision Checking -- |
| Miscellaneous information |
9.4.2. |
| Title |
Walk Planning -- |
| Miscellaneous information |
9.4.3. |
| Title |
Reach Planning -- |
| Miscellaneous information |
9.4.4. |
| Title |
Push Planning -- |
| Miscellaneous information |
9.5. |
| Title |
Multi-modal Planning with Random-MMP -- |
| Miscellaneous information |
9.5.1. |
| Title |
Effects of the Expansion Strategy -- |
| Miscellaneous information |
9.5.2. |
| Title |
Blind Expansion -- |
| Miscellaneous information |
9.5.3. |
| Title |
Utility computation -- |
| Miscellaneous information |
9.5.4. |
| Title |
Utility-centered Expansion -- |
| Miscellaneous information |
9.5.5. |
| Title |
Experimental Comparison of Expansion Strategies -- |
| Miscellaneous information |
9.6. |
| Title |
Postprocessing and System Integration -- |
| Miscellaneous information |
9.6.1. |
| Title |
Visual Sensing -- |
| Miscellaneous information |
9.6.2. |
| Title |
Execution of Walking Trajectories -- |
| Miscellaneous information |
9.6.3. |
| Title |
Smooth Execution of Reach Trajectories -- |
| Miscellaneous information |
9.7. |
| Title |
Experiments -- |
| Miscellaneous information |
9.7.1. |
| Title |
Simulation Experiments -- |
| Miscellaneous information |
9.7.2. |
| Title |
Experiments on ASIMO -- |
| Miscellaneous information |
9.8. |
| Title |
Conclusion -- -- |
| Miscellaneous information |
10. |
| Title |
A Motion Planning Framework for Skill Coordination and Learning / |
| Statement of responsibility |
Marcelo Kallmann and Xiaoxi Jiang -- |
| Miscellaneous information |
10.1. |
| Title |
Introduction -- |
| Miscellaneous information |
10.1.1. |
| Title |
Related Work -- |
| Miscellaneous information |
10.1.2. |
| Title |
Framework Overview -- |
| Miscellaneous information |
10.2. |
| Title |
Motion Skills -- |
| Miscellaneous information |
10.2.1. |
| Title |
Reaching Skill -- |
| Miscellaneous information |
10.2.2. |
| Title |
Stepping Skill -- |
| Miscellaneous information |
10.2.3. |
| Title |
Balance Skill -- |
| Miscellaneous information |
10.2.4. |
| Title |
Other Skills and Extensions -- |
| Miscellaneous information |
10.3. |
| Title |
Multi-skill Planning -- |
| Miscellaneous information |
10.3.1. |
| Title |
Algorithm Details -- |
| Miscellaneous information |
10.3.2. |
| Title |
Results and Discussion -- |
| Miscellaneous information |
10.4. |
| Title |
Learning -- |
| Miscellaneous information |
10.4.1. |
| Title |
A Similarity Metric for Reaching Tasks -- |
| Miscellaneous information |
10.4.2. |
| Title |
Learning Reaching Strategies -- |
| Miscellaneous information |
10.4.3. |
| Title |
Learning Constraints from Imitation -- |
| Miscellaneous information |
10.4.4. |
| Title |
Results and Discussion -- |
| Miscellaneous information |
10.5. |
| Title |
Conclusion. |
| 520 ## - SUMMARY, ETC. |
|---|
| Summary, etc. |
"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."--Publisher's website. |
| 588 ## - SOURCE OF DESCRIPTION NOTE |
|---|
| Source of description note |
Machine converted from AACR2 source record. |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| Topical term or geographic name entry element |
Androids. |
| 9 (RLIN) |
313735 |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| Topical term or geographic name entry element |
Robots |
| General subdivision |
Motion |
| 9 (RLIN) |
339086 |
| 700 1# - ADDED ENTRY--PERSONAL NAME |
|---|
| Personal name |
Harada, Kensuke. |
| 9 (RLIN) |
1081725 |
| 700 1# - ADDED ENTRY--PERSONAL NAME |
|---|
| Personal name |
Yoshida, Eiichi, |
| Dates associated with a name |
1967- |
| 9 (RLIN) |
1081726 |
| 700 1# - ADDED ENTRY--PERSONAL NAME |
|---|
| Personal name |
Yokoi, Kazuhito. |
| 9 (RLIN) |
1081727 |
| 907 ## - LOCAL DATA ELEMENT G, LDG (RLIN) |
|---|
| a |
.b11796613 |
| b |
22-08-17 |
| c |
27-10-15 |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) |
|---|
| Koha item type |
Book |
| 945 ## - LOCAL PROCESSING INFORMATION (OCLC) |
|---|
| a |
629.892 MOT |
| g |
1 |
| i |
A451928B |
| j |
0 |
| l |
cmain |
| o |
- |
| p |
$215.76 |
| q |
- |
| r |
- |
| s |
- |
| t |
0 |
| u |
1 |
| v |
0 |
| w |
0 |
| x |
1 |
| y |
.i13070666 |
| z |
29-10-15 |
| 998 ## - LOCAL CONTROL INFORMATION (RLIN) |
|---|
| -- |
b |
| -- |
c |
| Operator's initials, OID (RLIN) |
06-04-16 |
| Cataloger's initials, CIN (RLIN) |
m |
| First date, FD (RLIN) |
a |
| -- |
eng |
| -- |
enk |
| -- |
0 |
