Humanoid Robots - 1st Edition - ISBN: 9780128045602

Humanoid Robots

1st Edition

Modeling and Control

Authors: Dragomir Nenchev Atsushi Konno Teppei Tsujita
Paperback ISBN: 9780128045602
Imprint: Butterworth-Heinemann
Published Date: 1st December 2018
Page Count: 450
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Humanoid Robots: Modelling and Control provides a complete and systematic presentation of the models and control algorithms surrounding humanoid robots. The book starts with an overview of research history and current state-of-the-art. Next, the required mathematics and physics is explained, including kinematics, dynamics, Zero-Moment Point (ZMP) and its relationship with body motion. Various topics on the control of humanoids, balance control, gait control, and object manipulation control are also discussed. Finally, whole body control is presented to simulate the complete dynamic behavior of a humanoid robot.

The knowledge in the book will be helpful for timely decisions on the most appropriate control approach for a specific project (humanoid robot, tasks). This book will benefit academics with an advanced level of understanding on robotics, mechanics and control, postdocs, faculty, engineers, industrial researchers and other specialized research institutions in the field of robotics.

Key Features

  • Offers a complete and systematic presentation of models and control algorithms
  • Helps readers make timely decisions on the most appropriate control approach for a specific project
  • Contains several examples of implementation and some video clips (available on a companion site)


Postgraduates with advanced level of understanding of robotics, mechanics and control; postdocs, faculty, engineers and researchers in industrial and other specialized research institutions in the field of robotics

Table of Contents

  1. Introduction
    2. Kinematics
    3. Dynamics
    4. Control of humanoids
    5. Balance control
    6. Gait control
    7. Object manipulation control
    8. Whole body control


No. of pages:
© Butterworth-Heinemann 2019
Paperback ISBN:

About the Author

Dragomir Nenchev

Dragomir N. Nenchev is a leading robotics expert with 35 years of experience in robotics, focusing on modelling and motion control of redundant robots, parallel-link robots, free-floating space robots, flexible-base robots, humanoid robots and home robots. He is senior member of IEEE, member of the Robotics Society of Japan, the Japanese Society of Mechanical Engineers and the Society of Instrumentation and Control Engineers.

Affiliations and Expertise

Professor, Tokyo City University, Japan

Atsushi Konno

Atsushi Konno is a leading robotics expert with experience in design, modeling and control of humanoid robots. His team presented the famous drum beating and martial arts performing humanoid robot at 2005 Aichi Japan Expo. He has published more than 100 articles.

Affiliations and Expertise

Professor, Hokkaido University, Japan

Teppei Tsujita

Teppei Tsujita is active in robotics research for 9 years, with research interests on humanoid robots, design of haptic devices, magnetorheological fluid, surgery simulators, and their applications. He have numerous publications in archival journals and at worldwide conferences such as Advanced Robotics, IEEE International Conference on Intelligent Robots and Systems, International Journal of Humanoid Robotics.

Affiliations and Expertise

Associate Professor, National Defense Academy, Japan

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