Concurrent Optimization of Mechanical Design and Locomotion Control of a Legged Robot

This paper introduces a method to simultaneously optimize design and control parameters for legged robots to improve the performance of locomotion based tasks. The morphology of a quadrupedal robot was optimized for a trotting and bounding gait to achieve a certain speed while tuning the control parameters of a robust locomotion controller at the same time. The results of the optimization show that a change of the structure of the robot can help increase its admissable top speed while using the same actuation units.


Presented at:
17th International conference on climbing and walking robots (CLAWAR 2014), Poznan, Poland, July 21-23, 2014
Year:
2014
Keywords:
Laboratories:




 Record created 2014-07-16, last modified 2018-06-27

n/a:
Download fulltext
PDF

Rate this document:

Rate this document:
1
2
3
 
(Not yet reviewed)