Biomimetic Robotics

Dr Ranjan Vepa has been with Queen Mary and Westfield College in the Department of Engineering since 1984 after receiving his Ph.D. from Stanford University. Dr Ranjan Vepa's research covers, in addition to biomemetic robotics, aspects of the design, analysis, simulation, and implementation of avionics and avionics-related systems, including non-linear aerospace vehicle kinematics, dynamics, vibration, control, and filtering. He has published numerous journal and conference papers and has contributed to a textbook entitled Application of Artificial Intelligence in Process Control. He maintains active in learning-based design education and the utilization of modern technology in engineering education. Dr Ranjan Vepa is a Chartered Engineer, a Member of Royal Aeronautical Society, London (MRAeS), and a Fellow of the Higher Education Academy.

• 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.

'… well-organized book … an excellent textbook for beginners in robotics and those interested in performing control tasks both on mobile robots and on manipulators, especially for aerial or underwater mechanisms. … introduces every aspect in a progressive way … exercises at the end of each chapter … help the reader to test and reinforce the theories and methods described. … The book is written in nontechnical language and gives many practical examples. … I definitely would recommend this book for the beginner in robotics and as a good reference text for the advanced student, because it covers in a deep but quick way the most necessary and interesting topics both for manipulators and for mobile robotics. The author recommends this book for students of aerospace and underwater robotics, but it is perfectly suitable for the mathematical study of robotics in general. We have to thanks Dr Vepa for his excellent summarizing work.' Artificial Life