Enhancing stance robustness and jump height in bipedal muscle-actuated systems: a bioinspired morphological development approach.

Abstract

Recognizing humans' unmatched robustness, adaptability, and learning abilities across anthropomorphic movements compared to robots, we find inspiration in the simultaneous development of both morphology and cognition observed in humans. We utilize optimal control principles to train a muscle-actuated human model for both balance and squat jump tasks in simulation. Morphological development is introduced through abrupt transitions from a 4 year-old to a 12 year-old morphology, ultimately shifting to an adult morphology. We create two versions of the 4 year-old and 12 year-old models- one emulating human ontogenetic development and another uniformly scaling segment lengths and related parameters. Our results show that both morphological development strategies outperform the non-development path, showcasing enhanced robustness to perturbations in the balance task and increased jump height in the squat jump task. Our findings challenge existing research as they reveal that starting with initial robot designs that do not inherently facilitate learning and incorporating abrupt changes in their morphology can still lead to improved results, provided these morphological adaptations draw inspiration from biological principles.