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Robust motion learning for musculoskeletal robots based on a recurrent neural network and muscle synergies
Musculoskeletal robots with human-like joints, muscles, and actuation mechanisms are
characterized by exceptional dexterity, compliance, and versatility. However, existing …
characterized by exceptional dexterity, compliance, and versatility. However, existing …
Memory, attention, and muscle synergies based reinforcement and transfer learning for musculoskeletal robots under imperfect observation
Compared to traditional robots employing joint-link structures, biologically inspired
musculoskeletal robots offer superior compliance, dexterity, and robustness. However …
musculoskeletal robots offer superior compliance, dexterity, and robustness. However …
Utilising redundancy in musculoskeletal systems for adaptive stiffness and muscle failure compensation: a model-free inverse statics approach
Vertebrates possess a biomechanical structure with redundant muscles, enabling
adaptability in uncertain and complex environments. Harnessing this inspiration …
adaptability in uncertain and complex environments. Harnessing this inspiration …
Robust continuous motion strategy against muscle rupture using online learning of redundant intersensory networks for musculoskeletal humanoids
Musculoskeletal humanoids have various biomimetic advantages, of which redundant
muscle arrangement is one of the most important features. This feature enables variable …
muscle arrangement is one of the most important features. This feature enables variable …
Hardware design and learning-based software architecture of musculoskeletal wheeled robot musashi-w for real-world applications
Various musculoskeletal humanoids have been developed so far. While these humanoids
have the advantage of their flexible and redundant bodies that mimic the human body, they …
have the advantage of their flexible and redundant bodies that mimic the human body, they …
Forward/inverse kinematics modeling for tensegrity manipulator based on goal-conditioned variational autoencoder
This paper uses a data-driven approach to model a highly redundantly driven tensegrity
manipulator's forward and inverse kinematics. The tensegrity manipulator is based on a …
manipulator's forward and inverse kinematics. The tensegrity manipulator is based on a …
Fusion of body and environment with movable carabiners for wire-driven robots toward expansion of physical capabilities
S Yuzaki, A Miki, M Bando, S Yoshimura… - 2023 IEEE-RAS …, 2023 - ieeexplore.ieee.org
Many wire-driven robots have been developed due to the flexibility in wire placement.
Generally, conventional robots have fixed performance at the time of manufacture, making it …
Generally, conventional robots have fixed performance at the time of manufacture, making it …
Design optimization of musculoskeletal humanoids with maximization of redundancy to compensate for muscle rupture
Musculoskeletal humanoids have various biomimetic advantages, and the redundant
muscle arrangement allowing for variable stiffness control is one of the most important. In …
muscle arrangement allowing for variable stiffness control is one of the most important. In …
Motion learning for musculoskeletal robots based on cortex-inspired motor primitives and modulation
Musculoskeletal robots have structural advantages of flexibility, robustness, and compliance.
However, the control of such musculoskeletal robots is challenging. In particular, the …
However, the control of such musculoskeletal robots is challenging. In particular, the …
Adaptive body schema learning system considering additional muscles for musculoskeletal humanoids
One of the important advantages of musculoskeletal humanoids is that the muscle
arrangement can be easily changed and the number of muscles can be increased according …
arrangement can be easily changed and the number of muscles can be increased according …