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Generalized Hamiltonian biodynamics and topology invariants of humanoid robots. (English) Zbl 1016.37048

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.

MSC:

37N25 Dynamical systems in biology
37J05 Relations of dynamical systems with symplectic geometry and topology (MSC2010)
68T40 Artificial intelligence for robotics
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