Generalized Hamiltonian biodynamics and topology invariants of humanoid robots

Vladimir Ivancevic

International Journal of Mathematics and Mathematical Sciences, 2002, vol. 31, 1-11

Abstract:

Humanoid robots are anthropomorphic mechanisms with biodynamics that resembles human musculo-skeletal dynamics. This paper proposes a new generalized (dissipative, muscle-driven, stochastic) Hamiltonian model of humanoid biodynamics. Also, (co)homological analysis is performed on its Lie-group based configuration and momentum phase-space manifolds.

Date: 2002
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jijmms:609214

DOI: 10.1155/S0161171202012553

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