A memory and attention-based reinforcement learning for musculoskeletal robots with prior knowledge of muscle synergies
Xiaona Wang,
Jiahao Chen,
Hong Qiao
Abstract:Purpose
Limited by the types of sensors, the state information available for musculoskeletal robots with highly redundant, nonlinear muscles is often incomplete, which makes the control face a bottleneck problem. The aim of this paper is to design a method to improve the motion performance of musculoskeletal robots in partially observable scenarios, and to leverage the ontology knowledge to enhance the algorithm’s adaptability to musculoskeletal robots that have undergone changes.
Design/methodology/approach… Show more
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