TY - GEN
T1 - Task-based limb optimization for legged robots
AU - Ha, Sehoon
AU - Coros, Stelian
AU - Alspach, Alexander
AU - Kim, Joohyung
AU - Yamane, Katsu
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/28
Y1 - 2016/11/28
N2 - The design of legged robots is often inspired by animals evolved to excel at different tasks. However, while mimicking morphological features seen in nature can be very powerful, robots may need to perform motor tasks that their living counterparts do not. In the absence of designs that can be mimicked, an alternative is to resort to mathematical models that allow the relationship between a robot's form and function to be explored. In this paper, we propose such a model to codesign the motion and leg configurations of a robot such that a measure of performance is optimized. The framework begins by planning trajectories for a simplified model consisting of the center of mass and feet. The framework then optimizes the length of each leg link while solving for associated full-body motions. Our model was successfully used to find optimized designs for legged robots performing tasks that include jumping, walking, and climbing up a step. Although our results are preliminary and our analysis makes a number of simplifying assumptions, our findings indicate that the cost function, the sum of squared joint torques over the duration of a task, varies substantially as the design parameters change.
AB - The design of legged robots is often inspired by animals evolved to excel at different tasks. However, while mimicking morphological features seen in nature can be very powerful, robots may need to perform motor tasks that their living counterparts do not. In the absence of designs that can be mimicked, an alternative is to resort to mathematical models that allow the relationship between a robot's form and function to be explored. In this paper, we propose such a model to codesign the motion and leg configurations of a robot such that a measure of performance is optimized. The framework begins by planning trajectories for a simplified model consisting of the center of mass and feet. The framework then optimizes the length of each leg link while solving for associated full-body motions. Our model was successfully used to find optimized designs for legged robots performing tasks that include jumping, walking, and climbing up a step. Although our results are preliminary and our analysis makes a number of simplifying assumptions, our findings indicate that the cost function, the sum of squared joint torques over the duration of a task, varies substantially as the design parameters change.
UR - http://www.scopus.com/inward/record.url?scp=85006466627&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85006466627&partnerID=8YFLogxK
U2 - 10.1109/IROS.2016.7759324
DO - 10.1109/IROS.2016.7759324
M3 - Conference contribution
AN - SCOPUS:85006466627
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2062
EP - 2068
BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Y2 - 9 October 2016 through 14 October 2016
ER -