Concurrent Optimization of Mechanical Design and Locomotion Control of a Legged Robot
Concurrent Optimization of Mechanical Design and Locomotion Control of a Legged Robot
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腿式机器人机械设计与运动控制的并行优化
DOI：
10.1142/9789814623353_0037
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
R. Siegwart
中科院分区：
文献类型：
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作者：
Krishna Manaswi Digumarti;Christian Gehring;Stelian Coros;Jemin Hwangbo;R. Siegwart
介绍了一种同时优化腿机器人设计和控制参数的方法，以提高基于运动任务的性能。对四足机器人的形态进行了优化，使其小跑和跳跃步态达到一定的速度，同时整定了鲁棒运动控制器的控制参数。优化结果表明，在使用相同的驱动单元的情况下，改变机器人的结构有助于提高其允许的最高速度。
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.