2024
DOI: 10.1088/1748-3190/ad8419
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Brain–body-task co-adaptation can improve autonomous learning and speed of bipedal walking

Darío Urbina-Meléndez,
Hesam Azadjou,
Francisco J Valero-Cuevas

Abstract: Inspired by animals that co-adapt their brain and body to interact with the environment, we present a tendon-driven and over-actuated (i.e., n joint, n+1 actuators) bipedal robot that (i) exploits its backdrivable mechanical properties to manage body-environment interactions without explicit control, and (ii) uses a simple 3-layer neural network to learn to walk after only 2 minutes of ‘natural’ motor babbling (i.e., an exploration strategy that is compatible with leg and task dynamics; akin to childsplay). Th… Show more

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