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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.