自动化学报2026，Vol.52Issue(5)：953-965,13.DOI:10.16383/j.aas.c250508
冗余人工肌肉驱动的仿生机器人强化学习控制
Reinforcement Learning Control for Bioinspired Robots Driven by Redundant Artificial Muscles
摘要
Abstract
Artificial muscles are key actuation components for bioinspired robots.However,their current applica-tions remain far from the capabilities of biological muscle systems,particularly due to the lack of redundant and co-ordinated multi-muscle actuation similar to that found in living organisms.To address the challenge of complex ar-tificial-muscle actuation and coordination in bioinspired robots,this study proposes a soft robotic design driven by multiple artificial muscles arranged in parallel and develops a reinforcement learning-based locomotion control strategy for this design.A prototype was developed using a flexible cross-shaped printed circuit board as the main body,integrating six liquid crystal elastomer artificial muscles and their driving circuits.Its strain characteristics and dynamic response performance were experimentally characterized.Considering the deformation and locomotion characteristics of the prototype,a simplified tendon-driven model was constructed in a simulation environment.By properly designing the state space,action space,and reward functions,parallel reinforcement learning training was conducted using the soft Actor-Critic algorithm to obtain coordinated muscle activation strategies for translational and rotational locomotion.The stable periodic segments of the learned locomotion policies were then extracted and used to drive the physical prototype offline.The robot achieved effective multidirectional translation and rotation,demonstrating the feasibility of using reinforcement learning to control complex artificial-muscle-driven systems.关键词
仿生机器人/人工肌肉/强化学习/软体机器人/运动控制Key words
bionic robot/artificial muscles/reinforcement learning/soft robot/locomotion control引用本文复制引用
牛鹏军,程屹涛,朱彦臣,厉侃,刘珂..冗余人工肌肉驱动的仿生机器人强化学习控制[J].自动化学报,2026,52(5):953-965,13.基金项目
国家重点研发计划(2022YFB4701900)资助 Supported by National Key Research and Development Pro-gram of China(2022YFB4701900) （2022YFB4701900）
