OstrichRL: A Musculoskeletal Ostrich Simulation to Study Bio-mechanical Locomotion. (arXiv:2112.06061v2 [cs.RO] UPDATED)

Muscle-actuated control is a research topic that spans multiple domains,
including biomechanics, neuroscience, reinforcement learning, robotics, and
graphics. This type of control is particularly challenging as bodies are often
overactuated and dynamics are delayed and non-linear. It is however a very well
tested and tuned actuation mechanism that has undergone millions of years of
evolution with interesting properties exploiting passive forces and efficient
energy storage of muscle-tendon units. To facilitate research on
muscle-actuated simulation, we release a 3D musculoskeletal simulation …

arxiv bio simulation study