{"ID":2843173,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.07887","arxiv_id":"2511.07887","title":"EquiMus: Energy-Equivalent Dynamic Modeling and Simulation of Musculoskeletal Robots Driven by Linear Elastic Actuators","abstract":"Dynamic modeling and control are critical for unleashing soft robots' potential, yet remain challenging due to their complex constitutive behaviors and real-world operating conditions. Bio-inspired musculoskeletal robots, which integrate rigid skeletons with soft actuators, combine high load-bearing capacity with inherent flexibility. Although actuation dynamics have been studied through experimental methods and surrogate models, accurate and effective modeling and simulation remain a significant challenge, especially for large-scale hybrid rigid--soft robots with continuously distributed mass, kinematic loops, and diverse motion modes. To address these challenges, we propose EquiMus, an energy-equivalent dynamic modeling framework and MuJoCo-based simulation for musculoskeletal rigid--soft hybrid robots with linear elastic actuators. The equivalence and effectiveness of the proposed approach are validated and examined through both simulations and real-world experiments on a bionic robotic leg. EquiMus further demonstrates its utility for downstream tasks, including controller design and learning-based control strategies.","short_abstract":"Dynamic modeling and control are critical for unleashing soft robots' potential, yet remain challenging due to their complex constitutive behaviors and real-world operating conditions. Bio-inspired musculoskeletal robots, which integrate rigid skeletons with soft actuators, combine high load-bearing capacity with inher...","url_abs":"https://arxiv.org/abs/2511.07887","url_pdf":"https://arxiv.org/pdf/2511.07887v1","authors":"[\"Yinglei Zhu\",\"Xuguang Dong\",\"Qiyao Wang\",\"Qi Shao\",\"Fugui Xie\",\"Xinjun Liu\",\"Huichan Zhao\"]","published":"2025-11-11T06:34:41Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}