Muscle Synergy
Paper
A human central nervous system decreases the control complexity by producing a small number of electrical signals and activating muscles in groups. We achieve this in robots. [NeurIPS 2022]
The following figure shows the synergy structure evolution enabled by our method. Phases are divided according to changes in synergy clusters. Synergy clusters are masked with colored shapes.
Morphology Learning
Paper
How to learn an effective morphology for a specific task that is symmetric? [ICML 2023]
The following figure shows the morphology evolution enabled by our method.
