Generalized Hamiltonian biodynamics and topology invariants of humanoid robots (Q700900)
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scientific article; zbMATH DE number 1814795
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Generalized Hamiltonian biodynamics and topology invariants of humanoid robots |
scientific article; zbMATH DE number 1814795 |
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Generalized Hamiltonian biodynamics and topology invariants of humanoid robots (English)
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15 October 2002
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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.
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human musculo-skeletal dynamics
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Hamiltonian model
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homological analysis
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Lie group
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momentum phase-space manifolds
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