Chapter 1 Introduction; 1.1 Kinematics, Statics and Dynamics; 1.2 Dynamics Modeling and Model Compaction; 1.3 The Principle of Duality for Robot Kinematics, Statics and Dynamics; 1.4 Adaptive and Interactive Control of Robotic Systems; 1.5 The Organization of the Book Chapter 2 Fundamental Preliminaries; 2.1 Mathematical Preparations; 2.2 Robot Kinematics: Theories and Representations; 2.3 Robot Statics and Applications Chapter 3 Robot Dynamics Modeling; 3.1 The History of Robot Dynamic Formulations; 3.2 The Assumption of Rigid Body and Rigid Motion; 3.3 Kinetic Energy, Potential Energy and Lagrange Equations; 3.4 Dynamic Formulations for Robotic Systems Chapter 4 Advanced Dynamics Modeling; 4.1 The Configuration Manifold and Isometric Embedding; 4.2 How To Find an Isometric Embedding; 4.3 Applications to Robot Dynamics Modeling Chapter 5 The Principle of Duality in Kinematics and Dynamics; 5.1 Kinematic Structures for Stewart Platform; 5.2 Kinematic Analysis of Delta Closed Hybrid-Chain Robots; 5.3 Duality Between Open Serial-Chain and Closed Parallel-Chain Systems; 5.4 Isometric Embedding Based Dynamics Modeling for Parallel and Hybrid-Chain Robots Chapter 6 Nonlinear Control Theories; 6.1 Lyapunov Stability Theories and Control Strategies; 6.2 Controllability and Observability; 6.3 Input-State and Input-Output State-Feedback Linearization; 6.4 Isometric Embedding Dynamic Model and Control; 6.5 Linearizable Subsystems and Internal Dynamics; 6.6 Control of a Minimum-Phase System; 6.7 Examples of

Partially Linearizable Systems with Internal Dynamics Chapter 7 Adaptive Control of Robotic Systems; 7.1 The Control Law and Adaptation Law; 7.2 Applications and Simulation/Animation Studies Chapter 8 Dynamics Modeling and Control of Cascaded Systems; 8.1 Dynamic Interactions Between Robot and Environment; 8.2 Cascaded DynamicsModels with Backstepping Control Recursion; 8.3 Modeling and InteractiveControl of Robot-Environment Systems