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Natural and robust walking using reinforcement learning without demonstrations in high-dimensional musculoskeletal models
Humans excel at robust bipedal walking in complex natural environments. In each step, they
adequately tune the interaction of biomechanical muscle dynamics and neuronal signals to …
adequately tune the interaction of biomechanical muscle dynamics and neuronal signals to …
MIMo: A Multimodal Infant Model for Studying Cognitive Development
Human intelligence and human consciousness emerge gradually during the process of
cognitive development. Understanding this development is an essential aspect of …
cognitive development. Understanding this development is an essential aspect of …
Investigating the impact of action representations in policy gradient algorithms
Reinforcement learning~(RL) is a versatile framework for learning to solve complex real-
world tasks. However, influences on the learning performance of RL algorithms are often …
world tasks. However, influences on the learning performance of RL algorithms are often …
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 …
Enhancing stance robustness and jump height in bipedal muscle-actuated systems: a bioinspired morphological development approach
Recognizing humans' unmatched robustness, adaptability, and learning abilities across
anthropomorphic movements compared to robots, we find inspiration in the simultaneous …
anthropomorphic movements compared to robots, we find inspiration in the simultaneous …
A physiologically enhanced muscle spindle model: using a Hill-type model for extrafusal fibers as template for intrafusal fibers
The muscle spindle is an essential proprioceptor, significantly involved in sensing limb
position and movement. Although biological spindle models exist for years, the gold …
position and movement. Although biological spindle models exist for years, the gold …
ATARO: A Muscle-Driven Biorobotic Arm to Investigate Healthy and Impaired Motor Control
Bio-inspired robotics have received increasing attention in recent years as the biological
neuro-muscular interplay achieves unprecedented robust, versatile, and safe movements …
neuro-muscular interplay achieves unprecedented robust, versatile, and safe movements …
Learning to Control Emulated Muscles in Real Robots: A Software Test Bed for Bio-Inspired Actuators in Hardware
Recent studies have demonstrated the immense potential of exploiting muscle actuator
morphology for natural and robust movement-in simulation. A validation on real robotic …
morphology for natural and robust movement-in simulation. A validation on real robotic …
Learning to Control Emulated Muscles in Real Robots: Towards Exploiting Bio-Inspired Actuator Morphology
Recent studies have demonstrated the immense potential of exploiting muscle actuator
morphology for natural and robust movement--in simulation. A validation on real robotic …
morphology for natural and robust movement--in simulation. A validation on real robotic …
Motion Control of High-Dimensional Musculoskeletal System with Hierarchical Model-Based Planning
Controlling high-dimensional nonlinear systems presents significant challenges in biological
and robotic applications due to the large state and action spaces. While deep reinforcement …
and robotic applications due to the large state and action spaces. While deep reinforcement …