Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Dynamics and Control of Humanoid Robots: A Geometrical Approach   his 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.
  Keywords: Humanoid robots, Lagrangian and Hamiltonian formalisms, neural-like
humanoid control, time-dependent biodynamics

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The categories of this paper are: adap-org
0
The categories of this paper are: hep-ph
30
The categories of this paper are: q-alg
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The categories of this paper are: astro-ph
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The categories of this paper are: q-fin
35
The categories of this paper are: mtrl-th
4
The categories of this paper are: cond-mat
33
The categories of this paper are: plasm-ph
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The categories of this paper are: nucl-ex
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The categories of this paper are: atom-ph
5
The categories of this paper are: gr-qc
36
The categories of this paper are: cmp-lg
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The categories of this paper are: quant-ph
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The categories of this paper are: hep-lat
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The categories of this paper are: stat
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The categories of this paper are: ao-sci