Hao Cha

Value-Gradient Generalist Design of Muscle–Tendon Parameters for Cross-Terrain Musculoskeletal Locomotion

Compliant muscle–tendon mechanics can improve terrain adaptation in musculoskeletal robots, but heterogeneous terrains impose competing requirements on compliance, propulsion, foot clearance, and support transfer. This paper proposes Value-Gradient Generalist Design (VGGD), a fra...