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 …
Motion learning for musculoskeletal robots based on cortex-inspired motor primitives and modulation
X Wang, J Chen, W Wu - IEEE Transactions on Cognitive and …, 2023 - ieeexplore.ieee.org
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 …
MIMo: A Multi-Modal Infant Model for Studying Cognitive Development
D Mattern, P Schumacher, FM López… - … on Cognitive and …, 2024 - ieeexplore.ieee.org
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 …
Enhancing stance robustness and jump height in bipedal muscle-actuated systems: a bioinspired morphological development approach
N Badie, S Schmitt - Bioinspiration & Biomimetics, 2024 - iopscience.iop.org
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
PFS Chacon, M Hammer, I Wochner… - Computer Methods in …, 2023 - Taylor & Francis
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 …
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 …
Learning to Control Emulated Muscles in Real Robots: Towards Exploiting Bio-Inspired Actuator Morphology
P Schumacher, L Krause, J Schneider… - arXiv preprint arXiv …, 2024 - arxiv.org
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 …
[PDF][PDF] Interdisziplinäre Betrachtung eines Mordes, den es nicht gab–der Fall Manfred G.
CB Schmitt, R Rick, K Püschel - researchgate.net
1.1 Vorbemerkungen Nach Auffassung des Richters am Bundesgerichtshof Eschelbach
weisen die in Deutschland bislang identifizierten Fehlurteile auf strukturelle Mängel im …
weisen die in Deutschland bislang identifizierten Fehlurteile auf strukturelle Mängel im …