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Autonomous Lagrangian dynamics is formulated on the associated \u2018humanoid velocity phase space\u2019, while autonomous Hamiltonian dynamics is formulated on the associated \u2018humanoid momentum phase space\u2019. 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.<\/jats:p>","DOI":"10.2478\/s13230-011-0007-7","type":"journal-article","created":{"date-parts":[[2011,4,26]],"date-time":"2011-04-26T03:30:10Z","timestamp":1303788610000},"source":"Crossref","is-referenced-by-count":0,"title":["Dynamics and Control of Humanoid Robots: A Geometrical Approach"],"prefix":"10.2478","volume":"1","author":[{"given":"Vladimir G.","family":"Ivancevic","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tijana T.","family":"Ivancevic","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"374","reference":[{"issue":"3","key":"7_CR1","doi-asserted-by":"crossref","first-page":"455","DOI":"10.1137\/S003614450341313X","volume":"46","author":"V. Ivancevic","year":"2004","unstructured":"Ivancevic, V. Symplectic Rotational Geometry in Human Biomechanics. 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