Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Autonomous Control of a Tendon-driven Robotic Limb with Elastic Elements
  Reveals that Added Elasticity can Enhance Learning   Passive elastic elements can contribute to stability, energetic efficiency,
and impact absorption in both biological and robotic systems. They also add
dynamical complexity which makes them more challenging to model and control.
The impact of this added complexity to autonomous learning has not been
thoroughly explored. This is especially relevant to tendon-driven limbs whose
cables and tendons are inevitably elastic. Here, we explored the efficacy of
autonomous learning and control on a simulated bio-plausible tendon-driven leg
across different tendon stiffness values. We demonstrate that increasing
stiffness of the simulated muscles can require more iterations for the inverse
map to converge but can then perform more accurately, especially in discrete
tasks. Moreover, the system is robust to subsequent changes in muscle
stiffnesses and can adapt on-the-go within 5 attempts. Lastly, we test the
system for the functional task of locomotion, and found similar effects of
muscle stiffness to learning and performance. Given that a range of stiffness
values led to improved learning and maximized performance, we conclude the
robot bodies and autonomous controllers---at least for tendon-driven
systems---can be co-developed to take advantage of elastic elements.
Importantly, this opens also the door to development efforts that recapitulate
the beneficial aspects of the co-evolution of brains and bodies in vertebrates.

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The categories of this paper are: acc-phys
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The categories of this paper are: dg-ga
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The categories of this paper are: supr-con
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The categories of this paper are: stat
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The categories of this paper are: math-ph
15
The categories of this paper are: nucl-ex
36
The categories of this paper are: cmp-lg
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The categories of this paper are: funct-an
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The categories of this paper are: atom-ph
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The categories of this paper are: hep-th
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The categories of this paper are: gr-qc
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The categories of this paper are: chao-dyn
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The categories of this paper are: q-alg
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The categories of this paper are: astro-ph
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The categories of this paper are: math
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The categories of this paper are: bayes-an