© 2013

A Journey from Robot to Digital Human

Mathematical Principles and Applications with MATLAB Programming


  • A unique mathematical introduction to robotic kinematics, statics, dynamics and control with clear physical interpretations, illustrations and computer visualizations, as a perfect robotics textbook

  • Latest advances in digital human modeling and realistic motion analysis

  • Comprehensive introduction to 3D graphics and to its implementation all-in-one into a MATLAB program without need of any application programming interface and with no restriction

  • Written by a leading expert in the field


Part of the Modeling and Optimization in Science and Technologies book series (MOST, volume 1)

Table of contents

  1. Front Matter
    Pages 1-21
  2. Edward Y. L. Gu
    Pages 15-47
  3. Edward Y. L. Gu
    Pages 49-81
  4. Edward Y. L. Gu
    Pages 83-134
  5. Edward Y. L. Gu
    Pages 205-229
  6. Edward Y. L. Gu
    Pages 231-291
  7. Edward Y. L. Gu
    Pages 293-396
  8. Edward Y. L. Gu
    Pages 397-466
  9. Back Matter
    Pages 579-585

About this book


This book provides readers with a solid set of diversified and essential tools for the theoretical modeling and control of complex robotic systems, as well as for digital human modeling and realistic motion generation. Following a comprehensive introduction to the fundamentals of robotic kinematics, dynamics and control systems design, the author extends robotic modeling procedures and motion algorithms to a much higher-dimensional, larger scale and more sophisticated research area, namely digital human modeling. Most of the methods are illustrated by MATLAB™ codes and sample graphical visualizations, offering a unique closed loop between conceptual understanding and visualization. Readers are guided through practicing and creating 3D graphics for robot arms as well as digital human models in MATLAB™, and through driving them for real-time animation. This work is intended to serve as a robotics textbook with an extension to digital human modeling for senior undergraduate and graduate engineering students. At the same time, it represents a comprehensive reference guide for all researchers, scientists and professionals eager to learn the fundamentals of robotic systems as well as the basic methods of digital human modeling and motion generation.



3D Graphical Simulations Control Digital Human Modelling Humanoid Robots Hybrid-Chain Robots MATLAB Manufacturing Simulations Multi-Robot Coordination Posture Optimization Redundant Robot

Authors and affiliations

  1. 1.Dept. of Electrical and Computer EngineeringOakland UniversityRochester MichiganUSA

Bibliographic information

  • Book Title A Journey from Robot to Digital Human
  • Book Subtitle Mathematical Principles and Applications with MATLAB Programming
  • Authors Edward Y L Gu
  • Series Title Modeling and Optimization in Science and Technologies
  • Series Abbreviated Title Modeling and Optimization in Science and Technologies
  • DOI
  • Copyright Information Springer-Verlag Berlin Heidelberg 2013
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering Engineering (R0)
  • Hardcover ISBN 978-3-642-39046-3
  • Softcover ISBN 978-3-642-44620-7
  • eBook ISBN 978-3-642-39047-0
  • Series ISSN 2196-7326
  • Series E-ISSN 2196-7334
  • Edition Number 1
  • Number of Pages XXII, 585
  • Number of Illustrations 0 b/w illustrations, 0 illustrations in colour
  • Topics Robotics and Automation
    Computational Science and Engineering
    Control and Systems Theory
    Simulation and Modeling
  • Buy this book on publisher's site
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From the reviews:

“This enticingly titled book can be used as a textbook or as a reference book. … There are also exercise problems at the end of each chapter, which can be used in college courses or by readers who want to practice what they have learned in the text. … Having extensive MATLAB code is a unique feature of this book, because it encourages the reader to try the computations described in the book and to learn by experimenting.” (M. Gini, Computing Reviews, March, 2014)