Dynamics and Control of Humanoid Robots: A Geometrical Approach

被引：0

作者：

Ivancevic V.G. ^{[1
]}

Ivancevic T.T. ^{[2
]}

机构：

[1] Land Operation Division, Defence Science and Technology Organisation, Edinburgh

[2] QLIWW IP Pty Ltd., Tesla Science Evolution Institute, Adelaide

来源：

Paladyn | 2010年 / 1卷 / 04期

关键词：

Humanoid robots; Lagrangian and Hamiltonian formalisms; Neural-like humanoid control; Time-dependent biodynamics;

D O I：

10.2478/s13230-011-0007-7

中图分类号：

学科分类号：

摘要：

This 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. © Vladimir G. Ivancevic et al. 2010.

引用

页码：204 / 218

页数：14

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