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Dynamics and control of humanoid robots: A geometrical approach

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Paladyn

Abstract

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.

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Authors and Affiliations

  1. Land Operation Division, Defence Science & Technology Organisation, Edinburgh, SA, 1500, Australia

    Vladimir G. Ivancevic & Tijana T. Ivancevic

  2. QLIWW IP Pty Ltd. & Tesla Science, Evolution Institute, Adelaide, Australia

    Vladimir G. Ivancevic & Tijana T. Ivancevic

Authors
  1. Vladimir G. Ivancevic
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  2. Tijana T. Ivancevic
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Correspondence to Vladimir G. Ivancevic.

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Ivancevic, V.G., Ivancevic, T.T. Dynamics and control of humanoid robots: A geometrical approach. Paladyn 1, 204–218 (2010). https://doi.org/10.2478/s13230-011-0007-7

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  • DOI: https://doi.org/10.2478/s13230-011-0007-7

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