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News/Sim-to-Real Transfer for Muscle-Actuated Robots via Generalized Actuator Networks
arxiv
PublishedOctober 16, 2026 at 4:00 AM

Sim-to-Real Transfer for Muscle-Actuated Robots via Generalized Actuator Networks

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arXiv:2604.09487v4 Announce Type: replace-cross Abstract: Tendon drives paired with soft muscle actuation enable faster and safer robots while potentially accelerating skill acquisition. Still, these systems are rarely used in practice due to inherent nonlinearities, friction, and hysteresis, which

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