Name
Title | ||
|---|---|---|
Computational design of energy-efficient legged robots: Optimizing for size and actuators |
Abstract | ||
|---|---|---|
This paper presents a computational framework for the design of high-performance legged robotic systems. The framework relies on the concurrent optimization of hardware parameters and control trajectories to find the best robot design for a given task. In particular, we focus on energy efficiency, presenting novel electro-mechanical models to account for the losses of the actuators due to friction and Joule effects. Thanks to a bi-level optimization scheme, featuring a genetic algorithm in the outer loop, our framework can also optimize for the duration of the motion, the actuators, and the size of the robot. We present a novel approach to scale both the actuators and the robot structure in a way that ensures structural integrity by maintaining constant the normalized deflection of the links. We validated our approach by designing a two-joint monoped robot to execute a jumping task. Our simulation results show that our framework can lead to remarkable energy savings (up to 60%) thanks to the concurrent optimization of robot size, motion duration, and actuators. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/ICRA48506.2021.9560988 | 2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021) |
DocType | Volume | Issue |
Conference | 2021 | 1 |
ISSN | Citations | PageRank |
1050-4729 | 0 | 0.34 |
References | Authors | |
3 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Gabriele Fadini | 1 | 0 | 0.34 |
| Thomas Flayols | 2 | 0 | 2.03 |
| A. Del Prete | 3 | 7 | 1.93 |
| Nicolas Mansard | 4 | 490 | 39.67 |
| Philippe Souères | 5 | 323 | 43.63 |