Development of a Variable‑Stiffness Musculoskeletal Percussion Robot and Realization of Single‑Stroke Motion through Sim‑to‑Real Transfer

Engineering notes

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Chinese explanation / 中文解读

中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

This paper presents a musculoskeletal percussion robot equipped with variable stiffness joints driven by pneumatic artificial muscles (PAMs). To replicate human-like single-stroke drumming, we use deep reinforcement learning in simulation and transfer the learned control strategy to real hardware. The robot’s wrist joint is actuated antagonistically, while the grip joint incorporates a single PAM to modulate stiffness. This design enables dynamic adjustment of joint stiffness and striking force. Experimental results show that both wrist elevation and grip joint stiffness significantly influence strike intensity. The successful sim-to-real transfer validates the proposed approach, offering a pathway to nuanced robotic musical performance.

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