Human-Robot Biodynamics

Details Human-Robot Biodynamics Human-Robot Biodynamics

2008-05-23

arxiv.org/abs/0805.3588v3

Biology

Quantitative Biology

Other Quantitative Biology

20 pages, 11 figures, Latex

Scientific paper

This paper presents the scientific body of knowledge behind the Human Biodynamics Engine (HBE), a human motion simulator developed on the concept of Euclidean motion group SE(3), with 270 active degrees of freedom, force-velocity-time muscular mechanics and two-level neural control - formulated in the fashion of nonlinear humanoid robotics. The following aspects of the HBE development are described: geometrical, dynamical, control, physiological, AI, behavioral and complexity, together with several simulation examples. Keywords: Human Biodynamics Engine, Euclidean SE(3)-group, Lagrangian/Hamiltonian biodynamics, Lie-derivative control, muscular mechanics, fuzzy-topological coordination, biodynamical complexity, validation, application

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