Generalization of Bernstein´s problem toward autonomous action development of artificial muscle based robots

The Bernstein´s problem, asking how to cope with the redundant degrees-of-freedom of musculoskeletal systems in motion control, is straightforwardly extended to more general redundancy resolution problems. What element actions should be coordinated to achieve a complex task, or to realize multi-robot cooperative work? In this article they are unified and formulated as Generalized Bernstein Problem for developmental realization of complex actions, and then the ease criterion toward a smart solution for the problem is proposed.