Biomimetic Robotics: Mechanisms and Control
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1. The robot 2. Biomimetic mechanisms 3. Homogeneous transformations and screw motions 4. Direct kinematics of serial robot manipulators 5. Manipulators with multiple postures and compositions 6. Grasping: mechanics and constraints 7. Jacobians 8. Newtonian, Eulerian and Lagrangian dynamics 9. Path planning, obstacle avoidance and navigation 10. Hamiltonian systems and feedback linearization 11. Robot control 12. Biomimetic motive propulsion Answers to selected exercises Appendix: attitude and quaternions.