(no subject)

Does anyone have any good references to how movement of humanoid robots is handled? I was playing kicking a couple ideas around for how to mathematically model some taiji principles (nothing particularly woowoo, just weight and balance stuff) and it occurred to me that it might be an interesting way of approaching related issues in robotics. Except that I know nothing to speak of about how such things are generally handled. (I expect what I'm thinking of has been done, but I'm curious.)

Of course, this is so very much back burner right now...