About This Book
This comprehensive textbook provides a complete guide to Physical AI and Humanoid Robotics, bridging the gap between theoretical foundations and practical implementation. The book follows a simulation-first approach, emphasizing hands-on learning through Gazebo, Unity, and the NVIDIA Isaac ecosystem.
Designed for advanced undergraduate and graduate students, researchers, and engineers, this book covers the essential concepts needed to develop intelligent humanoid robots using state-of-the-art AI and robotics technologies.
Book Structure
Three comprehensive modules covering essential topics
Foundation
- Mathematical Foundations
- Kinematics and Dynamics
- Sensing and Perception
- Embodied Intelligence
Robotic Nervous System
- ROS 2 Architecture
- AI-Agent Bridges
- URDF Humanoid Description
- Nervous System Patterns
Digital Twin
- Gazebo Simulation
- Unity Visualization
- Isaac Ecosystem
- Integration Patterns
Learning Outcomes
Upon completion, students will be able to:
Configure Simulation Environments
Configure Gazebo simulation environments with accurate physics parameters for humanoid robot testing
Build Robot Models
Build URDF robot models with proper kinematic chains and dynamic properties for ROS integration
Implement Sensors
Implement sensor simulation pipelines with realistic noise models for LiDAR, cameras, and IMUs
Integrate Systems
Integrate Unity visualization with ROS-based control systems for human-robot interaction