Human Versus Humanoid Robot Biodynamics

Abstract

This paper presents the scientific body of knowledge behind the Human Biodynamics Engine (HBE), a human motion simulator developed on the concept of Euclidean motion group SE(3), with 270 active degrees of freedom, force-velocity-time muscular mechanics and twolevel neural control -formulated in the fashion of nonlinear humanoid robotics. The following aspects of the HBE development are described: geometrical, dynamical, control, physiological, AI, behavioral and complexity, together with several simulation examples.

Jet spaces in modern Hamiltonian biomechanics

“…Autonomous Hamiltonian biomechanics (as well as autonomous Lagrangian biomechanics), based on the postulate of conservation of the total mechanical energy, can be derived from the covariant force law [2][3][4][5], which in 'plain English' states:…”

“…More generally, the whole skeleton mechanically represents a system of flexibly coupled rigid bodies, each of them defined by the Euclidean group of (rotational + translational) motions in R 3 (see text below for explanation). This implies more complex kinematics, dynamics and control then in the case of humanoid robots (see [7] for technical details). There is a unique smooth map from the right-hand branch to the left-hand branch of the diagram (2):…”

“…where = ( ) is the material metric tensor defined by the biomechanical system's mass-inertia matrix and are differentials of the local joint coordinates on M. Besides giving the local distances between the points on 2 …”

“…We develop autonomous Hamiltonian biomechanics on the configuration biomechanical manifold M in three steps, following the standard symplectic geometry prescription (see [2,4,5,8]…”

“…Most of dynamics in contemporary human biomechanics is autonomous (see [2][3][4][5][6][7][8][9][10][11]). This approach works fine for most individual movement simulations and predictions, in which the total human energy dissipations are insignificant.…”