Design of Anthropomorphic Robotic Systems: Humanoid Robotics Mechanics, Control, and Architecture

Serious humanoid systems are not built from intuition. They are built from mathematics, structure, and constraint. This book is written for readers who want that level of clarity. It develops humanoid robotics from first principles through to full system integration, using the same formal tools used in high-end research and engineering environments. Kinematics, dynamics, control, estimation, perception, and planning are not treated as separate topics, but as components of a single, coherent...