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IntroductionToHumanoidRobotics

Matlab code for a Springer book "Introduction to Humanoid Robotics"

[Usage] Type following command in Matlab's command line.

Section 2 Kinematics ulink_example : Example of recursive call programming (2.4.2) fk_random : Draw biped robot with random joint angles(2.5.2) ik_random : Draw robot with random foot place and orientation(2.5.3) ik_random2 : ik_random with numerical inverse kinemaitcs(2.5.4) ik_stretch_NR : Behavior of Newton-Raphson method at singularity ik_stretch_LM : Levenberg-Marqardt method using singularity robust inverse

Section 3 ZMP and Dynamcis calcurate_zmp : Show ZMP(IZMP) of biped robot and the CoM projection(3.4.1)

Section 6 Dynamic simulation rigidbody_rotate : Animate rigid body rotation in zero-gravity (6.1.2) screw_motion : Rigid body motin with constant spatial velocity(6.2.2) rigidbody_fly : Rigid body translation and rotation in zero-gravity (6.3.3) top_simulation : Animate top motion (6.3.4) robot_simulation : Dynamic simulation using unit-vector method(6.4.3)

Tested by Matlab for Windows ver.6.5, ver.7.0, and R2012b

Note 0: These programs are no warranty. Use these programs with your own risk. The author cannot be responsible for any trouble caused by the software.

Note 1: Rules of naming (with some exceptions) Executable without arguments: All character of the file name are lower wase (ex: ulink_example.m) Subroutines (need arguments): Contains upper case character (ex: PrintLinkName.m)

Note 2: Matlab for Linux It works at the authors envoriment Vine Linux2.6 + Matlab ver.6.5.

Note 3: If you get unusual 3D graphics Please try the following command. It might work... set(0,'DefaultFigureRenderer','zbuffer')