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.
