Introduction

Human–like biomechanics is a modern scientific approach to human–like motion dynamics and control. Its human perspective has been developed in the work of the present authors (see [Iva91, ILI95, IS01, IP01b, IP01a, Iva02, Iva04, Iva05, IB05, PI03, PI04]). The dynamics of human motion is extremely complex, multi–dimensional, highly nonlinear and hierarchical. Human skeleton has more than two hundred rigid bones, connected by rotational joints, witch have up to three axes of rotation. Nevertheless, in classical biomechanics the main analytical tool was translational vector geometry (see Figure 1.1). The skeleton is driven by a synergistic action of its 640 skeletal muscles. Each of these muscles has its own excitation and contraction dynamics, in which neural action potentials are transformed into muscular force vectors (see [Hat77a, Hat77b, Hat78]).