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Motion Planning for Humanoid Robots

Motion Planning for Humanoid Robots Book
Author : Kensuke Harada,Eiichi Yoshida,Kazuhito Yokoi
Publisher : Springer Science & Business Media
Release : 2010-08-12
ISBN : 1849962200
Language : En, Es, Fr & De

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Book Description :

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.

Humanoid Robots

Humanoid Robots Book
Author : Kathryn Clay
Publisher : Capstone
Release : 2014
ISBN : 1476539758
Language : En, Es, Fr & De

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Book Description :

"Describes the past, present, and possible future of robots that resemble humans and human behavior"--

Humanoid Robots

Humanoid Robots Book
Author : Dragomir N. Nenchev,Atsushi Konno,Teppei Tsujita
Publisher : Butterworth-Heinemann
Release : 2018-11-21
ISBN : 0128045825
Language : En, Es, Fr & De

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Book Description :

Humanoid Robots: Modeling and Control provides systematic presentation of the models used in the analysis, design and control of humanoid robots. The book starts with a historical overview of the field, a summary of the current state of the art achievements and an outline of the related fields of research. It moves on to explain the theoretical foundations in terms of kinematic, kineto-static and dynamic relations. Further on, a detailed overview of biped balance control approaches is presented. Models and control algorithms for cooperative object manipulation with a multi-finger hand, a dual-arm and a multi-robot system are also discussed. One of the chapters is devoted to selected topics from the area of motion generation and control and their applications. The final chapter focuses on simulation environments, specifically on the step-by-step design of a simulator using the Matlab® environment and tools. This book will benefit readers with an advanced level of understanding of robotics, mechanics and control such as graduate students, academic and industrial researchers and professional engineers. Researchers in the related fields of multi-legged robots, biomechanics, physical therapy and physics-based computer animation of articulated figures can also benefit from the models and computational algorithms presented in the book. Provides a firm theoretical basis for modelling and control algorithm design Gives a systematic presentation of models and control algorithms Contains numerous implementation examples demonstrated with 43 video clips

Consciousness in Humanoid Robots

Consciousness in Humanoid Robots Book
Author : Antonio Chella,Angelo Cangelosi,Giorgio Metta,Selmer Bringsjord
Publisher : Frontiers Media SA
Release : 2019-06-05
ISBN : 2889458660
Language : En, Es, Fr & De

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Book Description :

Building a conscious robot is a scientific and technological challenge. Debates about the possibility of conscious robots and the related positive outcomes and hazards for human beings are today no longer confined to philosophical circles. Robot consciousness is a research field aimed at a two-part goal: on the one hand, scholars working in robot consciousness take inspiration from biological consciousness to build robots that present forms of experiential and functional consciousness. On the other hand, scholars employ robots as tools to better understand biological consciousness. Thus, part one of the goal concerns the replication of aspects of biological consciousness in robots, by unifying a variety of approaches from AI and robotics, cognitive robotics, epigenetic and affective robotics, situated and embodied robotics, developmental robotics, anticipatory systems, and biomimetic robotics. Part two of the goal is pursued by employing robots to advance and mark progress in the study of consciousness in humans and animals. Notably, neuroscientists involved in the study of consciousness do not exclude the possibility that robots may be conscious. This eBook comprises a collection of thirteen manuscripts and an Editorial published by Frontiers in Robotics and Artificial Intelligence, under the section Humanoid Robotics, and Frontiers in Neurorobotics, on the topic “Consciousness in Humanoid Robots.” This compendium aims at collating the most recent theoretical studies, models, and case studies of machine consciousness that take the humanoid robot as a frame of reference. The content in the articles may be applied to many different kinds of robots, and to software agents as well.

Humanoid Robotics A Reference

Humanoid Robotics  A Reference Book
Author : Ambarish Goswami,Prahlad Vadakkepat
Publisher :
Release : 2019
ISBN : 9789400771949
Language : En, Es, Fr & De

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Book Description :

Humanoid Robotics: A Reference provides a comprehensive compilation of developments in the conceptualization, design and development of humanoid robots and related technologies. Human beings have built the environment they occupy (living spaces, instruments and vehicles) to suit two-legged systems. Building systems, especially in robotics, that are compatible with the well established, human-based surroundings and which could naturally interact with humans is an ultimate goal for all researches and engineers. Humanoid Robots are systems (i.e. robots) which mimic human behaviour. Humanoids provide a platform to study the construction of systems that behave and interact like humans. A broad range of applications ranging from daily housework to complex medical surgery, deep ocean exploration, and other potentially dangerous tasks are possible using humanoids. In addition, the study of humanoid robotics provides a platform to understand the mechanisms and offers a physical visual of how humans interact, think, and react with the surroundings and how such behaviours could be reassembled and reconstructed. Currently, the most challenging issue with bipedal humanoids is to make them balance on two legs, The purportedly simple act of finding the best balance that enables easy walking, jumping and running requires some of the most sophisticated development of robotic systems- those that will ultimately mimic fully the diversity and dexterity of human beings. Other typical human-like interactions such as complex thought and conversations on the other hand, also pose barriers for the development of humanoids because we are yet to understand fully the way in which we humans interact with our environment and consequently to replicate this in humanoids.

Artificial Intelligence and Humanoid Robots

Artificial Intelligence and Humanoid Robots Book
Author : Alicia Z. Klepeis
Publisher : Capstone Press
Release : 2019
ISBN : 1543554733
Language : En, Es, Fr & De

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Book Description :

Robots that talk and act human are the ultimate artificial intelligence (AI) turning point. We are closer than ever to making it reality. Learn how robots have changed over time and how these advances bring complicated ethical issues. Bring Science, Technology, Engineering, Art, and Math (STEAM) to your reluctant readers with a topic they will gravitate toward. Fans of augmented reality will love the Capstone 4D augmented reading experience. Get bonus videos via the Capstone 4D app or web browser and go beyond the printed page!

Humanoid Robots

Humanoid Robots Book
Author : Source Wikipedia
Publisher : University-Press.org
Release : 2013-09
ISBN : 9781230614045
Language : En, Es, Fr & De

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Book Description :

Please note that the content of this book primarily consists of articles available from Wikipedia or other free sources online. Pages: 43. Chapters: Data, Android, Humanoid robot, PINO, Gynoid, ASIMO, Robonaut, Actroid, Xianxingzhe, Geoff Peterson, Battlefield Extraction-Assist Robot, ICub, Roboty, RS Media, EveR-1, List of ASIMO public appearances, Humanoid Robotics Project, Nao, HUBO, GuRoo, RoboSapien, TOPIO, QRIO, Honda E series, SIGMO, Honda P series, HOAP, FemiSapien, Cog, HRP-4C, Evolta, Robosapien v2, Meinu robot, RobotCub Consortium, Seropi, Surena, Plen, Ibn Sina Robot, George, NASA robots, TOPIO Dio, Choromet, KHR-1, REEM, Flame, IsaacRobot, MAHRU, Archie Humanoid Robot, Land Walker, Albert Hubo, JO-ZERO, Hiro, Kobian, Musa, Coco. Excerpt: A humanoid robot or an anthropomorphic robot is a robot with its overall appearance, based on that of the human body, allowing interaction with made-for-human tools or environments. In general humanoid robots have a torso with a head, two arms and two legs, although some forms of humanoid robots may model only part of the body, for example, from the waist up. Some humanoid robots may also have a 'face', with 'eyes' and 'mouth'. Androids are humanoid robots built to aesthetically resemble a human. Honda ASIMO, a humanoid robot TOPIO, a humanoid robot, played ping pong at Tokyo International Robot Exhibition (IREX) 2009.A humanoid robot is an autonomous robot, because it can adapt to changes in its environment or itself and continue to reach its goal. This is the main difference between humanoid and other kinds of robots. In this context, some of the capacities of a humanoid robot may include, among others: Like other mechanical robots, humanoid refer to the following basic components too: Sensing, Actuating and Planning and Control. Since they try to simulate the human structure and behavior and they are autonomous systems, generally humanoid robots are more complex than other kinds of robots. This complexity...

Whole Body Impedance Control of Wheeled Humanoid Robots

Whole Body Impedance Control of Wheeled Humanoid Robots Book
Author : Alexander Dietrich
Publisher : Springer
Release : 2016-07-02
ISBN : 3319405578
Language : En, Es, Fr & De

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Book Description :

Introducing mobile humanoid robots into human environments requires the systems to physically interact and execute multiple concurrent tasks. The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation. This control approach enables a mobile humanoid robot to simultaneously meet several control objectives with different pre-defined levels of priority, while providing the skills for compliant physical contacts with humans and the environment. After a general introduction into the topic of whole-body control, several essential reactive tasks are developed to extend the repertoire of robotic control objectives. Additionally, the classical Cartesian impedance is extended to the case of mobile robots. All of these tasks are then combined and integrated into an overall, priority-based control law. Besides the experimental validation of the approach, the formal proof of asymptotic stability for this hierarchical controller is presented. By interconnecting the whole-body controller with an artificial intelligence, the immense potential of the integrated approach for complex real-world applications is shown. Several typical household chores, such as autonomously wiping a window or sweeping the floor with a broom, are successfully performed on the mobile humanoid robot Rollin’ Justin of the German Aerospace Center (DLR). The results suggest the presented controller for a large variety of fields of application such as service robotics, human-robot cooperation in industry, telepresence in medical applications, space robotics scenarios, and the operation of mobile robots in dangerous and hazardous environments.

Humanoid Robots

Humanoid Robots Book
Author : S L Hamilton
Publisher : A&d Xtreme
Release : 2018-12-15
ISBN : 1532171439
Language : En, Es, Fr & De

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Book Description :

Simple text and close-up photographs present the amazing advancements of today's robots. Readers will learn about the incredible developments of human-like automatons, some who perform dangerous work and others who execute finely detailed skills. This book contains important details about how these robots are designed to assist, protect, and benefit humans. Includes surprising information about companies and engineers creating today's most up-to-date robots. Aligned to Common Core Standards and correlated to state standards. A&D Xtreme is an imprint of Abdo Publishing, a division of ABDO.

Humanoid Robots

Humanoid Robots Book
Author : Books Llc
Publisher : Books LLC, Wiki Series
Release : 2010-09
ISBN : 9781156884539
Language : En, Es, Fr & De

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Book Description :

Please note that the content of this book primarily consists of articles available from Wikipedia or other free sources online. Pages: 43. Chapters: Data, Android, Humanoid robot, PINO, Gynoid, ASIMO, Robonaut, Actroid, Xianxingzhe, Geoff Peterson, Battlefield Extraction-Assist Robot, ICub, Roboty, RS Media, EveR-1, List of ASIMO public appearances, Humanoid Robotics Project, Nao, HUBO, GuRoo, RoboSapien, TOPIO, QRIO, Honda E series, SIGMO, Honda P series, HOAP, FemiSapien, Cog, HRP-4C, Evolta, Robosapien v2, Mein robot, RobotCub Consortium, Seropi, Surena, Plen, Ibn Sina Robot, George, NASA robots, TOPIO Dio, Choromet, KHR-1, REEM, Flame, IsaacRobot, MAHRU, Archie Humanoid Robot, Land Walker, Albert Hubo, JO-ZERO, Hiro, Kobian, Musa, Coco. Excerpt: A humanoid robot or an anthropomorphic robot is a robot with its overall appearance, based on that of the human body, allowing interaction with made-for-human tools or environments. In general humanoid robots have a torso with a head, two arms and two legs, although some forms of humanoid robots may model only part of the body, for example, from the waist up. Some humanoid robots may also have a 'face', with 'eyes' and 'mouth'. Androids are humanoid robots built to aesthetically resemble a human. Honda ASIMO, a humanoid robot TOPIO, a humanoid robot, played ping pong at Tokyo International Robot Exhibition (IREX) 2009.A humanoid robot is an autonomous robot, because it can adapt to changes in its environment or itself and continue to reach its goal. This is the main difference between humanoid and other kinds of robots. In this context, some of the capacities of a humanoid robot may include, among others: Like other mechanical robots, humanoid refer to the following basic components too: Sensing, Actuating and Planning and Control. Since they try to simulate the human structure and behavior and they are autonomous systems, generally humanoid robots are more complex than other kinds of robots. This complexity affects...

A Roadmap for Cognitive Development in Humanoid Robots

A Roadmap for Cognitive Development in Humanoid Robots Book
Author : David Vernon,Claes von Hofsten,Luciano Fadiga
Publisher : Springer Science & Business Media
Release : 2011-12-28
ISBN : 364216904X
Language : En, Es, Fr & De

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Book Description :

This book addresses the central role played by development in cognition. The focus is on applying our knowledge of development in natural cognitive systems, specifically human infants, to the problem of creating artificial cognitive systems in the guise of humanoid robots. The approach is founded on the three-fold premise that (a) cognition is the process by which an autonomous self-governing agent acts effectively in the world in which it is embedded, (b) the dual purpose of cognition is to increase the agent's repertoire of effective actions and its power to anticipate the need for future actions and their outcomes, and (c) development plays an essential role in the realization of these cognitive capabilities. Our goal in this book is to identify the key design principles for cognitive development. We do this by bringing together insights from four areas: enactive cognitive science, developmental psychology, neurophysiology, and computational modelling. This results in roadmap comprising a set of forty-three guidelines for the design of a cognitive architecture and its deployment in a humanoid robot. The book includes a case study based on the iCub, an open-systems humanoid robot which has been designed specifically as a common platform for research on embodied cognitive systems .

The Future of Humanoid Robots

The Future of Humanoid Robots Book
Author : Riadh Zaier
Publisher : BoD – Books on Demand
Release : 2012-01-20
ISBN : 9533079517
Language : En, Es, Fr & De

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Book Description :

This book provides state of the art scientific and engineering research findings and developments in the field of humanoid robotics and its applications. It is expected that humanoids will change the way we interact with machines, and will have the ability to blend perfectly into an environment already designed for humans. The book contains chapters that aim to discover the future abilities of humanoid robots by presenting a variety of integrated research in various scientific and engineering fields, such as locomotion, perception, adaptive behavior, human-robot interaction, neuroscience and machine learning. The book is designed to be accessible and practical, with an emphasis on useful information to those working in the fields of robotics, cognitive science, artificial intelligence, computational methods and other fields of science directly or indirectly related to the development and usage of future humanoid robots. The editor of the book has extensive R

Visual Perception for Humanoid Robots

Visual Perception for Humanoid Robots Book
Author : David Israel González Aguirre
Publisher : Springer
Release : 2018-09-01
ISBN : 3319978411
Language : En, Es, Fr & De

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Book Description :

This book provides an overview of model-based environmental visual perception for humanoid robots. The visual perception of a humanoid robot creates a bidirectional bridge connecting sensor signals with internal representations of environmental objects. The objective of such perception systems is to answer two fundamental questions: What & where is it? To answer these questions using a sensor-to-representation bridge, coordinated processes are conducted to extract and exploit cues matching robot’s mental representations to physical entities. These include sensor & actuator modeling, calibration, filtering, and feature extraction for state estimation. This book discusses the following topics in depth: • Active Sensing: Robust probabilistic methods for optimal, high dynamic range image acquisition are suitable for use with inexpensive cameras. This enables ideal sensing in arbitrary environmental conditions encountered in human-centric spaces. The book quantitatively shows the importance of equipping robots with dependable visual sensing. • Feature Extraction & Recognition: Parameter-free, edge extraction methods based on structural graphs enable the representation of geometric primitives effectively and efficiently. This is done by eccentricity segmentation providing excellent recognition even on noisy & low-resolution images. Stereoscopic vision, Euclidean metric and graph-shape descriptors are shown to be powerful mechanisms for difficult recognition tasks. • Global Self-Localization & Depth Uncertainty Learning: Simultaneous feature matching for global localization and 6D self-pose estimation are addressed by a novel geometric and probabilistic concept using intersection of Gaussian spheres. The path from intuition to the closed-form optimal solution determining the robot location is described, including a supervised learning method for uncertainty depth modeling based on extensive ground-truth training data from a motion capture system. The methods and experiments are presented in self-contained chapters with comparisons and the state of the art. The algorithms were implemented and empirically evaluated on two humanoid robots: ARMAR III-A & B. The excellent robustness, performance and derived results received an award at the IEEE conference on humanoid robots and the contributions have been utilized for numerous visual manipulation tasks with demonstration at distinguished venues such as ICRA, CeBIT, IAS, and Automatica.

Introduction to Humanoid Robotics

Introduction to Humanoid Robotics Book
Author : Shuuji Kajita,Hirohisa Hirukawa,Kensuke Harada,Kazuhito Yokoi
Publisher : Springer
Release : 2014-07-15
ISBN : 364254536X
Language : En, Es, Fr & De

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Book Description :

This book is for researchers, engineers, and students who are willing to understand how humanoid robots move and be controlled. The book starts with an overview of the humanoid robotics research history and state of the art. Then it explains the required mathematics and physics such as kinematics of multi-body system, Zero-Moment Point (ZMP) and its relationship with body motion. Biped walking control is discussed in depth, since it is one of the main interests of humanoid robotics. Various topics of the whole body motion generation are also discussed. Finally multi-body dynamics is presented to simulate the complete dynamic behavior of a humanoid robot. Throughout the book, Matlab codes are shown to test the algorithms and to help the reader ́s understanding.

Humanoid Robotics and Neuroscience

Humanoid Robotics and Neuroscience Book
Author : Gordon Cheng
Publisher : CRC Press
Release : 2014-12-19
ISBN : 1420093673
Language : En, Es, Fr & De

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Book Description :

Humanoid robots are highly sophisticated machines equipped with human-like sensory and motor capabilities. Today we are on the verge of a new era of rapid transformations in both science and engineering—one that brings together technological advancements in a way that will accelerate both neuroscience and robotics. Humanoid Robotics and Neuroscience: Science, Engineering and Society presents the contributions of prominent scientists who explore key aspects of the further potential of these systems. Topics include: Neuroscientific research findings on dexterous robotic hand control Humanoid vision and how understanding the structure of the human eye can lead to improvements in artificial vision Humanoid locomotion, motor control, and the learning of motor skills Cognitive elements of humanoid robots, including the neuroscientific aspects of imitation and development The impact of robots on society and the potential for developing new systems and devices to benefit humans The use of humanoid robotics can help us develop a greater scientific understanding of humans, leading to the design of better engineered systems and machines for society. This book assembles the work of scientists on the cutting edge of robotic research who demonstrate the vast possibilities in this field of research.

Biomorphic Robots

Biomorphic Robots Book
Author : Source Wikipedia
Publisher : University-Press.org
Release : 2013-09
ISBN : 9781230606897
Language : En, Es, Fr & De

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Book Description :

Please note that the content of this book primarily consists of articles available from Wikipedia or other free sources online. Pages: 73. Chapters: BEAM robotics, Humanoid robots, Data, Android, AIBO, PINO, Gynoid, Rhex, ASIMO, Robonaut, Actroid, Xianxingzhe, Geoff Peterson, Battlefield Extraction-Assist Robot, Kismet, Pleo, I-Cybie, ICub, Entomopter, Roboty, RS Media, IvanAnywhere, EveR-1, List of ASIMO public appearances, Humanoid Robotics Project, FlyTech Dragonfly, IDog, Nao, List of robotic dogs, HUBO, Roboboa, Keepon, GuRoo, RoboSapien, TOPIO, Snakebot, QRIO, Honda E series, Roboquad, Flower robot, Nv network, SIGMO, BigDog, Robopet, Honda P series, HOAP, Robosaurus, FemiSapien, Cog, Robopanda, WowWee Alive Chimpanzee, Roboraptor, HRP-4C, Poo-Chi, Evolta, Robosapien v2, Digesting Duck, Meinu robot, RobotCub Consortium, Seropi, Surena, Plen, Roboreptile, Ibn Sina Robot, Plantoid, George, NASA robots, TOPIO Dio, Solarroller, Choromet, Biomorphic robotics, KHR-1, Paro, REEM, Walker, Flame, IsaacRobot, Sitter, MAHRU, Archie Humanoid Robot, Polly, Land Walker, Swimmer, Albert Hubo, Phototrope, Flier, Leonardo, Roboshark, JO-ZERO, Hiro, Squirmer, Kobian, Crawler, Musa, Jumper, Slider, Coco, Radiotrope, Thermotrope, Audiotrope, Insbot, Climber. Excerpt: A humanoid robot or an anthropomorphic robot is a robot with its overall appearance, based on that of the human body, allowing interaction with made-for-human tools or environments. In general humanoid robots have a torso with a head, two arms and two legs, although some forms of humanoid robots may model only part of the body, for example, from the waist up. Some humanoid robots may also have a 'face', with 'eyes' and 'mouth'. Androids are humanoid robots built to aesthetically resemble a human. Honda ASIMO, a humanoid robot TOPIO, a humanoid robot, played ping pong at Tokyo International Robot Exhibition (IREX) 2009.A humanoid robot is an autonomous robot, because it can adapt to changes in its environment or...

Humanoid Robots Just Like Us

Humanoid Robots  Just Like Us  Book
Author : N.A
Publisher :
Release :
ISBN :
Language : En, Es, Fr & De

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Book Description :

Have we reached the point where robots are becoming just like--if not better than--human beings? Probe this fascinating question by examining recent developments in artificial intelligence, robot bipedalism and dexterity, the concept of the “uncanny valley,” and three imitation games (including the classic Turing test) to determine where we stand with humanoid robots.

Biologically Inspired Control of Humanoid Robot Arms

Biologically Inspired Control of Humanoid Robot Arms Book
Author : Adam Spiers,Said Ghani Khan,Guido Herrmann
Publisher : Springer
Release : 2016-05-19
ISBN : 3319301608
Language : En, Es, Fr & De

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Book Description :

This book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method caters to a rising interest in humanoid robots and the need for appropriate control schemes to match these systems. Unlike the classic kinematic schemes used in industrial manipulators, the dynamic approaches proposed here promote human-like motion with better exploitation of the robot’s physical structure. This also benefits human-robot interaction. The control schemes proposed in this book are inspired by a wealth of human-motion literature that indicates the drivers of motion to be dynamic, model-based and optimal. Such considerations lend themselves nicely to achievement via nonlinear control techniques without the necessity for extensive and complex biological models. The operational-space method of robot control forms the basis of many of the techniques investigated in this book. The method includes attractive features such as the decoupling of motion into task and posture components. Various developments are made in each of these elements. Simple cost functions inspired by biomechanical “effort” and “discomfort” generate realistic posture motion. Sliding-mode techniques overcome robustness shortcomings for practical implementation. Arm compliance is achieved via a method of model-free adaptive control that also deals with actuator saturation via anti-windup compensation. A neural-network-centered learning-by-observation scheme generates new task motions, based on motion-capture data recorded from human volunteers. In other parts of the book, motion capture is used to test theories of human movement. All developed controllers are applied to the reaching motion of a humanoid robot arm and are demonstrated to be practically realisable. This book is designed to be of interest to those wishing to achieve dynamics-based human-like robot-arm motion in academic research, advanced study or certain industrial environments. The book provides motivations, extensive reviews, research results and detailed explanations. It is not only suited to practising control engineers, but also applicable for general roboticists who wish to develop control systems expertise in this area.