**Meet the editor**

Dr. Riadh Zaier received MS and Doctorate degrees, both in System Engineering, from the Mechanical Engineering Department, Nagoya Institute of Technology, Japan, in 1996 and 1999 respectively. He joined Fujitsu Automation Ltd. in 1999, then Fujitsu Laboratories Ltd. In 2009, he joined the Mechanical and Industrial Engineering Department at the Sultan Qaboos University, Oman,

and is currently an assistant professor responsible for the Mechatronics Program. Dr Zaier developed a neural network that generates robust and smooth motions for Fujitsu humanoid robot "HOAP", which is commercially available. He received the Technical Innovations award of Robotics Society of Japan (RSJ) for his work "Humanoid Robot Platform HOAP-1" and the best paper award from CLAWAR 2011 international conference, Paris. Dr. Zaier has been invited by academic and research institutes in France, Switzerland and Japan to give talks on locomotion pattern generator. He has several patents and a granted US patent No 7482775 and his research interests are in the broad area of intelligent sensing, information fusion, and in particular on human-centered robotics, biologically inspired locomotion control and medical robotics.

Contents

**Preface IX** 

Riadh Zaier

**Part 1 Periodic Tasks and Locomotion Control 1** 

Chapter 2 **Autonomous Motion Adaptation Against** 

Chapter 3 **Design of Oscillatory Neural Network** 

Chapter 1 **Performing Periodic Tasks: On-Line Learning, Adaptation and** 

**Structure Changes Without Model Identification 29**  Yuki Funabora, Yoshikazu Yano, Shinji Doki and Shigeru Okuma

**for Locomotion Control of Humanoid Robots 41** 

**with an Artificial Skin for an Android Robot 81** 

**Robot Hand with Torque Limiter Mechanism 97**  Wataru Fukui, Futoshi Kobayashi and Fumio Kojima

**Part 3 Interactive Applications of Humanoid Robots 109** 

**in Construction and Built Environment 111** 

Chapter 7 **Exoskeleton and Humanoid Robotic Technology** 

T. Bock, T. Linner and W. Ikeda

**Part 2 Grasping and Multi-Fingered Robot Hand 61** 

Tokuo Tsuji, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro and Kenichi Maruyama

Chapter 4 **Grasp Planning for a Humanoid Hand 63** 

Dongwoon Choi, Dong-Wook Lee, Woonghee Shon and Ho-Gil Lee

Chapter 6 **Development of Multi-Fingered Universal** 

Chapter 5 **Design of 5 D.O.F Robot Hand** 

**Synchronization with External Signals 3**  Andrej Gams, Tadej Petrič, Aleš Ude and Leon Žlajpah
