Biologically Inspired Series-Parallel Hybrid Robots

Preface
Part 1: Introduction to Biologically Inspired Hybrid Robots
1. Motivation
2. Modular and Decentralized Design Principles
Part 2: Geometric Analysis
3. Modern methods in Geometric Analysis (4 bar mechanism, slider crank)
4. 2-DOF Orientational Parallel Mechanisms
5. 3 DOF Orientational Parallel Mechanism
Part 3: Kinematics, Dynamics and Control
6. Kinematics and Dynamics of Tree-Type systems
7. Modular Algorithms for Kinematics and Dynamics of series-parallel hybrid robots
8. Forward Dynamics with Constraint Embedding for Dynamic Simulation
9. Whole Body Control
10. Whole Body Trajectory Optimization
Part 4: Mechatronic System Design of Some Hybrid Robots
11. Hominid robot Charlie
12. Multi-legged robot Mantis
13. Sherpa, a Family of Wheeled-Leg Rovers
14. Recupera-Reha Exoskeleton
15. RH5 Pedes Humanoid
16. Autonomous Rough Terrain Excavator Robot (ARTER)
Part 5: Software and Outlook
17. Phobos: Creation and Maintenance of Complex Robot Models
18. HyRoDyn: Hybrid Robot Dynamics
19. Design of a flexible bio-inspired robot for inspection of pipelines
20. Design optimisation of parallel submechanism modules

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• Robótica

Kinematics; dynamics; control; parallel robots; series-parallel hybrid robots; biologically inspired design