Dynamics and Control of Humanoid Robots: A Geometrical Approach
  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 
Vladimir G. Ivancevic and Tijana T. Ivancevic
nlin.AO math-ph math.MP