3 accepted papers
Wheeled-legged robots combine the efficiency of wheels with the versatility of legs, but face significant energy optimization challenges when navigating diverse environments. In this work, we present a hierarchical control framework that integrates predictive power modeling with residual reinforceme
Learning an effective policy to control high-dimensional, overactuated systems is a significant challenge for deep reinforcement learning algorithms. Such control scenarios are often observed in the neural control of vertebrate musculoskeletal systems. The study of these control mechanisms will prov…
Modeling and control of the human musculoskele-tal system is important for understanding human motor functions, developing embodied intelligence, and optimizing human-robot interaction systems. However, current human musculoskeletal models are restricted to a limited range of body parts and often wi…