Article

MyoLeg: Measured Biomimetic Walking Control Based on Musculoskeletal Dynamics and Neural Feedback

The author tests MyoLeg's official pretrained policy and a spinal reflex baseline, shifting the walking control target from torque to 80 neural excitation channels, involving activation dynamics, force-length-velocity relationships, and moment arms. The article presents quantitative results on gait mechanics, impact recovery, muscle weakness, and fatigue, and summarizes lessons learned in reproducing the reflex circuit.

Part of the event: Measured test of the official MyoLeg pretrained policy and spinal reflex baseline

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