Generalized Hamiltonian biodynamics and topology invariants of humanoid robots
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...
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2002-01-01
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| Series: | International Journal of Mathematics and Mathematical Sciences |
| Online Access: | http://dx.doi.org/10.1155/S0161171202012553 |
| Summary: | 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. |
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| ISSN: | 0161-1712 1687-0425 |