Stability Geometry of Biomimetic Robotics
Description This white paper introduces Stability Geometry of Biomimetic Robotics (SG-BR) — a conceptual and computational framework that shifts the focus of biomimetic robotics from anatomical imitation to the principles of adaptive stability. The central hypothesis is that biological morphology emerges as a consequence of long-term optimization for adaptive stability under physical, energetic, informational, and environmental constraints, rather than being the primary target of evolution. The framework proposes: Biomimetic Configuration Space — a multidimensional representation integrating mechanical, energetic, sensory, computational, learning, environmental, and task domains; Biomimetic Stability Functional — a scalar measure evaluating the overall adaptive quality of robotic configurations; Adaptive Stability Manifold and Variational Principle of Adaptive Stability — geometric and variational tools for analyzing adaptive trajectories and recoverability. SG-BR aims to provide a unifying systems-level language for designing robust, recoverable, and adaptive robotic systems across diverse domains (humanoids, soft robots, swarms, etc.), moving from form imitation toward organizational principles of biological resilience. Author: Roman Borisovich Lukin (Independent Researcher, Bishkek, Kyrgyz Republic) Version: 1.0 (June 2026) This work is presented as a conceptual research program intended to stimulate discussion, mathematical development, and experimental validation in biomimetic engineering and embodied intelligence.