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Musculoskeletal robots hold significant potential for the design of future robots. One of the challenges is the possibility of output delays from the muscles, which may prevent higher centers from compensating during sudden disturbances. The reflex system, widely observed in animals, is viewed as an efficient mechanism for overcoming this challenge. Specifically, the Ia and Ib reflex pathways, as the sensory pathways originating from muscle sensory receptors, are considered to contribute to the responsiveness and convergence of the feedback system with the dynamics of the musculoskeletal body. In this study, we propose a basic reflex system that can be implemented into a robot arm driven by pneumatic artificial muscles (PAMs) and investigate its effectiveness through two experiments: a sudden force shock and a position constraint. The results demonstrate that the reflex behavior is capable of reducing the impact of disturbances, with the Ia reflex pathways providing an immediate response to disturbances and the Ib reflex pathways curbing excessive output force.

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Abstract. In this paper, we analyzed the collected measured data of floating vehicles with mobile collection equipment in the driving of Beijing. The results show that the fuel consumption of the floating vehicle increases with the increase of the vehicle speed when the vehicle is traveling at a constant speed, and there is a significant difference between the two kinds of speed, which is consistent with the curve of the VT-Model. The fuel consumption per 100 km decreases first and then increases with the increase of the vehicle speed. There is a quadratic fit between the two kinds of speed, which is consistent with the curve of the Power-based Emission Model. PM2.5 is significantly related to instantaneous fuel consumption, but no typical function can be fitted, indicating that vehicle emission is not a decisive factor for PM2.5; the return value of pre-oxygen sensor decreases first with the increase of vehicle speed and there is a quadratic function fitting relationship between them, which also validates the concept of economic speed.