Concurrent Optimization of Mechanical Design and Locomotion Control of a Legged Robot
Conference Paper, Proceedings of 17th International Conference on Climbing and Walking Robots (CLAWAR '14), July, 2014
Abstract
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.
BibTeX
@conference{Digumarti-2014-17162,author = {K. M. Digumarti and C. Gehring and Stelian Coros and J. Hwangbo and R. Siegwart},
title = {Concurrent Optimization of Mechanical Design and Locomotion Control of a Legged Robot},
booktitle = {Proceedings of 17th International Conference on Climbing and Walking Robots (CLAWAR '14)},
year = {2014},
month = {July},
}
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