{"id":"https://openalex.org/W4403677069","doi":"https://doi.org/10.1109/biorob60516.2024.10719699","title":"Learning to Control Emulated Muscles in Real Robots: A Software Test Bed for Bio-Inspired Actuators in Hardware","display_name":"Learning to Control Emulated Muscles in Real Robots: A Software Test Bed for Bio-Inspired Actuators in Hardware","publication_year":2024,"publication_date":"2024-09-01","ids":{"openalex":"https://openalex.org/W4403677069","doi":"https://doi.org/10.1109/biorob60516.2024.10719699"},"language":"en","primary_location":{"id":"doi:10.1109/biorob60516.2024.10719699","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/biorob60516.2024.10719699","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010207430","display_name":"Pierre Schumacher","orcid":"https://orcid.org/0009-0006-7369-1836"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Pierre Schumacher","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,Tubingen,Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,Tubingen,Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104242020","display_name":"Lorenz Krause","orcid":null},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lorenz Krause","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,Tubingen,Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,Tubingen,Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jan Schneider","orcid":null},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Schneider","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,Tubingen,Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,Tubingen,Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055226918","display_name":"Dieter B\u00fcchler","orcid":"https://orcid.org/0000-0002-2493-0101"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dieter B\u00fcchler","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,Tubingen,Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,Tubingen,Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001474340","display_name":"Georg Martius","orcid":"https://orcid.org/0000-0002-8963-7627"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Georg Martius","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,Tubingen,Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,Tubingen,Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110486192","display_name":"Daniel F. B. Haeufle","orcid":null},"institutions":[{"id":"https://openalex.org/I4210141865","display_name":"Hertie Institute for Clinical Brain Research","ror":"https://ror.org/04zzwzx41","country_code":"DE","type":"other","lineage":["https://openalex.org/I4210141865","https://openalex.org/I8087733"]},{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Haeufle","raw_affiliation_strings":["Hertie Institute for Clinical Brain Research, University of Tubingen,Centre for Integrative Neuroscience,Germany"],"affiliations":[{"raw_affiliation_string":"Hertie Institute for Clinical Brain Research, University of Tubingen,Centre for Integrative Neuroscience,Germany","institution_ids":["https://openalex.org/I4210141865","https://openalex.org/I8087733"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5010207430"],"corresponding_institution_ids":["https://openalex.org/I4210135521"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16855516,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"806","last_page":"813"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9377999901771545,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9377999901771545,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6753381490707397},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6584494709968567},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.6138640642166138},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5845333933830261},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.5371314883232117},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.5168340802192688},{"id":"https://openalex.org/keywords/test","display_name":"Test (biology)","score":0.5150368213653564},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4577047824859619},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23388317227363586},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.22726094722747803}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6753381490707397},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6584494709968567},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.6138640642166138},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5845333933830261},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.5371314883232117},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.5168340802192688},{"id":"https://openalex.org/C2777267654","wikidata":"https://www.wikidata.org/wiki/Q3519023","display_name":"Test (biology)","level":2,"score":0.5150368213653564},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4577047824859619},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23388317227363586},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.22726094722747803},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob60516.2024.10719699","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/biorob60516.2024.10719699","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1530782822","https://openalex.org/W2061907967","https://openalex.org/W2113555299","https://openalex.org/W2122473046","https://openalex.org/W2158782408","https://openalex.org/W2202445267","https://openalex.org/W2527524739","https://openalex.org/W2963647792","https://openalex.org/W2980070341","https://openalex.org/W3003629310","https://openalex.org/W3037785630","https://openalex.org/W3104511684","https://openalex.org/W3207657697","https://openalex.org/W4300892751","https://openalex.org/W4321851583","https://openalex.org/W4328049297","https://openalex.org/W4360987789","https://openalex.org/W4387704082","https://openalex.org/W4390481291","https://openalex.org/W4390605089","https://openalex.org/W6634704422","https://openalex.org/W6801964084","https://openalex.org/W6839426209","https://openalex.org/W6839709120","https://openalex.org/W6849700586"],"related_works":["https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2011222276","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W2490690736","https://openalex.org/W785766289","https://openalex.org/W2185997459","https://openalex.org/W2075768084","https://openalex.org/W2934597797"],"abstract_inverted_index":{"Recent":[0],"studies":[1],"have":[2],"demonstrated":[3],"the":[4,86,98,122,129,144],"immense":[5],"potential":[6],"of":[7,43,118,124,182],"exploiting":[8],"muscle":[9,34,58,76],"actuator":[10,35],"morphology":[11],"for":[12,97,179],"natural":[13],"and":[14,45,92,127,135,153],"robust":[15,134,183],"movement":[16],"-":[17],"in":[18,39,109],"simulation.":[19],"A":[20],"validation":[21],"on":[22,37,60,150,162],"real":[23,62,99,151],"robotic":[24],"hardware":[25,38,152],"is":[26,88,166],"yet":[27],"missing.":[28],"In":[29],"this":[30],"study,":[31],"we":[32,112,141],"emulate":[33,55],"properties":[36],"real-time,":[40],"taking":[41],"advantage":[42],"modern":[44],"affordable":[46],"electric":[47],"motors.":[48],"We":[49,71],"demonstrate":[50],"that":[51,83,85,114,143,155,171],"our":[52],"setup":[53],"can":[54,147,174],"a":[56,61,68,80,163],"simplified":[57],"model":[59,77,87],"robot":[63,165],"while":[64],"being":[65],"controlled":[66],"by":[67,78,105],"learned":[69,130,145],"policy.":[70],"improve":[72],"upon":[73],"an":[74],"existing":[75],"deriving":[79],"damping":[81],"rule":[82],"ensures":[84],"not":[89],"only":[90],"performant":[91],"stable":[93],"but":[94],"also":[95],"tuneable":[96],"hardware.":[100],"Our":[101],"policies":[102,131,146],"are":[103,132],"trained":[104],"reinforcement":[106],"learning":[107],"entirely":[108],"simulation,":[110],"where":[111],"show":[113,154,170],"previously":[115],"reported":[116],"benefits":[117],"muscles":[119,161,173],"extend":[120],"to":[121],"case":[123],"quadruped":[125,164],"locomotion":[126],"hopping:":[128],"more":[133,137],"exhibit":[136],"regular":[138],"gaits.":[139],"Finally,":[140],"confirm":[142],"be":[148,175],"executed":[149],"sim-to-real":[156],"transfer":[157],"with":[158],"real-time":[159],"emulated":[160],"possible.":[167],"These":[168],"results":[169],"artificial":[172],"highly":[176],"beneficial":[177],"actuators":[178],"future":[180],"generations":[181],"legged":[184],"robots.":[185],"Videos:":[186],"https://sites.google.com/view/emulatedmuscles":[187]},"counts_by_year":[],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2024-10-24T00:00:00"}