Dynamics and Control of Humanoid Robots: A Geometrical Approach
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...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
De Gruyter
2010-12-01
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| Series: | Paladyn |
| Subjects: | |
| Online Access: | https://doi.org/10.2478/s13230-011-0007-7 |
| _version_ | 1797426946522480640 |
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| author | Ivancevic Vladimir G. Ivancevic Tijana T. |
| author_facet | Ivancevic Vladimir G. Ivancevic Tijana T. |
| author_sort | Ivancevic Vladimir G. |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-09T08:38:14Z |
| format | Article |
| id | doaj.art-c3fed03c02c44c2ba8f608d899ee5c32 |
| institution | Directory Open Access Journal |
| issn | 2081-4836 |
| language | English |
| last_indexed | 2024-03-09T08:38:14Z |
| publishDate | 2010-12-01 |
| publisher | De Gruyter |
| record_format | Article |
| series | Paladyn |
| spelling | doaj.art-c3fed03c02c44c2ba8f608d899ee5c322023-12-02T17:49:42ZengDe GruyterPaladyn2081-48362010-12-011420421810.2478/s13230-011-0007-7Dynamics and Control of Humanoid Robots: A Geometrical ApproachIvancevic Vladimir G.0Ivancevic Tijana T.1 Land Operation Division, Defence Science & Technology Organisation, Edinburgh SA 1500, Australia QLIWW IP Pty Ltd. & Tesla Science Evolution Institute, Adelaide, AustraliaThis 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.https://doi.org/10.2478/s13230-011-0007-7humanoid robotslagrangian and hamiltonian formalismsneural-like humanoid controltime-dependent biodynamics |
| spellingShingle | Ivancevic Vladimir G. Ivancevic Tijana T. Dynamics and Control of Humanoid Robots: A Geometrical Approach Paladyn humanoid robots lagrangian and hamiltonian formalisms neural-like humanoid control time-dependent biodynamics |
| title | Dynamics and Control of Humanoid Robots: A Geometrical Approach |
| title_full | Dynamics and Control of Humanoid Robots: A Geometrical Approach |
| title_fullStr | Dynamics and Control of Humanoid Robots: A Geometrical Approach |
| title_full_unstemmed | Dynamics and Control of Humanoid Robots: A Geometrical Approach |
| title_short | Dynamics and Control of Humanoid Robots: A Geometrical Approach |
| title_sort | dynamics and control of humanoid robots a geometrical approach |
| topic | humanoid robots lagrangian and hamiltonian formalisms neural-like humanoid control time-dependent biodynamics |
| url | https://doi.org/10.2478/s13230-011-0007-7 |
| work_keys_str_mv | AT ivancevicvladimirg dynamicsandcontrolofhumanoidrobotsageometricalapproach AT ivancevictijanat dynamicsandcontrolofhumanoidrobotsageometricalapproach |