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Do you know a good text book about inverse kinematics for humanoid robots (such as Aldebaran Nao)?
by flor1s 9y ago
Do you know a good text book about inverse kinematics for humanoid robots (such as Aldebaran Nao)?
- blt 9y ago"Robotics: Modelling, Planning and Control" by B. Siciliano et al.
- chombier 9y agoA little old, but still one of the best resources for humanoid control: http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Pa... It has a chapter on closed-form IK for simple structures, and one on Jacobian transpose control.
- Zeebrommer 9y agoSeconded! A classic.
- majke 9y agoNot strictly robotics, but I learned most of math required for inverse kinematics from this "David Vernon. Machine Vision" book. http://homepages.inf.ed.ac.uk/rbf/BOOKS/VERNON/toc.htm http://homepages.inf.ed.ac.uk/rbf/BOOKS/VERNON/toc.htm Take a look at this chapter: http://homepages.inf.ed.ac.uk/rbf/BOOKS/VERNON/Chap008.pdf http://homepages.inf.ed.ac.uk/rbf/BOOKS/VERNON/Chap008.pdf