Brain-like functor control machine for general humanoid biodynamics

Human-Robot Biodynamics

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 two– level neural control – formulated in the fashion of nonlinear humanoid robotics. The following aspects of the HBE development are desc...

Brain-machine interfacing control of whole-body humanoid motion

We propose to tackle in this paper the problem of controlling whole-body humanoid robot behavior through non-invasive brain-machine interfacing (BMI), motivated by the perspective of mapping human motor control strategies to human-like mechanical avatar. Our solution is based on the adequate reduction of the controllable dimensionality of a high-DOF humanoid motion in line with the state-of-the...

Generalized Hamiltonian Biodynamics and Topology Invariants of Humanoid Robots

Nonlinear complexity of human biodynamics engine

This paper reviews a nonlinear complexity within the Human Biodynamics Engine (HBE), a world-class human neuro-musculoskeletal simulator, developed at the Department of Defense, Australia. The HBE development is based on an anthropomorphic tree of Euclidean motion groups SE(3), with 270 active degrees of freedom, realistic muscular mechanics and hierarchical neural-like control. The HBE is form...

The AGINAO Self-Programming Engine

The AGINAO is a project to create a human-level artificial general intelligence system (HL AGI) embodied in the Aldebaran Robotics' NAO humanoid robot. The dynamical and open-ended cognitive engine of the robot is represented by an embedded and multi-threaded control program, that is self-crafted rather than hand-crafted, and is executed on a simulated Universal Turing Machine (UTM). The actual...