Fig. 4
From: Deep reinforcement learning for modeling human locomotion control in neuromechanical simulation
Reflex-based neuromechanical model. a A reflex-based control model produced walking with human-like kinematics, dynamics, and muscle activations when optimized to walking with minimum metabolic energy consumption [6]. b The model produced diverse locomotion behaviors when optimized at different simulation environments with different objectives. c The same model optimized for minimum metabolic energy consumption reacted to various disturbances as observed in human experiments [81]