Fig. 6: Bioinspired double curriculum produces gaits with good alignment to human patterns.
From: Bioinspired morphology and task curricula for learning locomotion in bipedal muscle-actuated systems
Displayed are the hip, knee, ankle joint angles and ground reaction forces (GRF) during locomotion on flat ground at three different velocities. The means and standard deviations (orange), taken over all steps within a 10 s window from three rollouts across three different seeds, is compared to experimental data (gray) from walking40 and running at various speeds41.
