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cs.RO2019
Autonomous Control of a Tendon-driven Robotic Limb with Elastic Elements Reveals that Added Elasticity can Enhance Learning
Ali Marjaninejad, Jie Tan, Francisco J. Valero-Cuevas
Passive elastic elements can contribute to stability, energetic efficiency, and impact absorption in both biological and robotic systems. They also add dynamical complexity which m…
cs.RO2019
Simple Kinematic Feedback Enhances Autonomous Learning in Bio-Inspired Tendon-Driven Systems
Ali Marjaninejad, Darío Urbina-Meléndez, Francisco J. Valero-Cuevas
Error feedback is known to improve performance by correcting control signals in response to perturbations. Here we show how adding simple error feedback can also accelerate and rob…