Abstract
Abstract Anthropomimetic robotics differs from
conventional approaches by capitalizing on the
replication of the inner structures of the human body,
such as muscles, tendons, bones, and joints. Here we
present our results of more than three years of
research in constructing, simulating, and, most
importantly, controlling anthropomimetic robots. We
manufactured four physical torsos, each more complex
than its predecessor, and developed the tools required
to simulate their behavior. Furthermore, six different
control approaches, inspired by classical control
theory, machine learning, and neuroscience, were
developed and evaluated via these simulations or in
small-scale setups. While the obtained results are
encouraging, we are aware that we have barely exploited
the potential of the anthropomimetic design so far.
But, with the tools developed, we are confident that
this novel approach will contribute to our
understanding of morphological computation and human
motor control in the future.
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