Fig. 2: Younger morphologies, particularly the ontogenetically scaled (Onto4y) followed by the uniformly scaled (Uni4y) 4 year-olds, exhibit enhanced exploration, quantified by an expanded kinematic workspace with greater position and velocity coverage.
From: Bioinspired morphology and task curricula for learning locomotion in bipedal muscle-actuated systems
Foot trajectories and velocities were captured across 50 episodes of 1000 steps each (Δt = 10 s) during pure exploration. a Dimensionless position and (b) velocity data, normalized according to the typical biomechanical approach of Hof60, are presented. c Schematic representation of the experiment, in which the pelvis of each morphology was constrained and one leg was perturbed with white noise.
