International Journal of Mathematics and Mathematical Sciences
Volume 31 (2002), Issue 9, Pages 555-565
doi:10.1155/S0161171202012553
Generalized Hamiltonian biodynamics and topology invariants of humanoid robots
Vladimir Ivancevic
Human Factors, Land Operation Division, Defence Science and Technology Organization, P.O. Box 1500, Edinburgh 5111, SA, Australia
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.