Dynamics of tree-type robotic systems. (Q449099)

This is a relatively compact, but yet detailed, book on modeling and analysis of ``tree-type'' robotic systems. To categorize and thus to simplify the analysis, the authors introduce ``kinematic modules'' together with a general representation of mechanical joints. Using this formulation, the authors are able to develop recursive algorithms with direct application to legged robots. The authors envision the treatise to be useful as a text for graduate level courses, and as a reference for researchers and practicing engineers working with robotic systems. The book itself has ten chapters and four appendices, together with an extensive reference listing spanning approximately 250 pages. Following a brief introductory chapter, the authors use four chapters to establish the basic kinematics and dynamics. Then, in Chapters 6 and 7, they present recursive algorithms. The final three chapters discuss applications with legged robotic systems. Although the authors have prepared a concise, readable description of rather specialized topics, the reviewer believes the work is better suited for developmental researchers and engineers than for students -- although it could be useful for students working on theses or dissertations. The book quality, the illustrations, and the editing are all excellent.