Generalized Hamiltonian biodynamics andtopology invariants of humanoid robots

摘要

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.