A musculoskeletal humanoid learns a direct neural model from ankle-pedal control input to car velocity and uses gradient-based optimization to track target speeds faster than PID controllers.
Motion Generation of Redundant Musculoskeletal Humanoid Based on Robot-Model Error Compensation by Muscle Load Sharing and Interactive Control Device,
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Task-specific Self-body Controller Acquisition by Musculoskeletal Humanoids: Application to Pedal Control in Autonomous Driving
A musculoskeletal humanoid learns a direct neural model from ankle-pedal control input to car velocity and uses gradient-based optimization to track target speeds faster than PID controllers.