International Journal of Mathematics and Mathematical Sciences
Volume 31 (2002), Issue 9, Pages 555-565
Generalized Hamiltonian biodynamics and
topology invariants of humanoid robots
Human Factors, Land Operation Division, Defence Science and Technology Organization, P.O. Box 1500, Edinburgh 5111, SA, Australia
Received 28 March 2001; Revised 9 January 2002
Copyright © 2002 Vladimir Ivancevic. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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.