Nonlinear Sciences – Adaptation and Self-Organizing Systems
Scientific paper
2011-05-15
Nonlinear Sciences
Adaptation and Self-Organizing Systems
27 pages, 9 figures, Latex
Scientific paper
his paper reviews modern geometrical dynamics and control of humanoid robots. This general Lagrangian and Hamiltonian formalism starts with a proper definition of humanoid's configuration manifold, which is a set of all robot's active joint angles. Based on the `covariant force law', the general humanoid's dynamics and control are developed. Autonomous Lagrangian dynamics is formulated on the associated `humanoid velocity phase space', while autonomous Hamiltonian dynamics is formulated on the associated `humanoid momentum phase space'. Neural-like hierarchical humanoid control naturally follows this geometrical prescription. This purely rotational and autonomous dynamics and control is then generalized into the framework of modern non-autonomous biomechanics, defining the Hamiltonian fitness function. The paper concludes with several simulation examples. Keywords: Humanoid robots, Lagrangian and Hamiltonian formalisms, neural-like humanoid control, time-dependent biodynamics
Ivancevic Tijana T.
Ivancevic Vladimir G.
No associations
LandOfFree
Dynamics and Control of Humanoid Robots: A Geometrical Approach does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.
If you have personal experience with Dynamics and Control of Humanoid Robots: A Geometrical Approach, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Dynamics and Control of Humanoid Robots: A Geometrical Approach will most certainly appreciate the feedback.
Profile ID: LFWR-SCP-O-241392