This book is for researchers engineers and students who are willing to understand how
humanoid robots move and be controlled. The book starts with an overview of the humanoid
robotics research history and state of the art. Then it explains the required mathematics and
physics such as kinematics of multi-body system Zero-Moment Point (ZMP) and its relationship
with body motion. Biped walking control is discussed in depth since it is one of the main
interests of humanoid robotics. Various topics of the whole body motion generation are also
discussed. Finally multi-body dynamics is presented to simulate the complete dynamic behavior
of a humanoid robot. Throughout the book Matlab codes are shown to test the algorithms and to
help the reader´s understanding.
