Control- & Task-Aware Optimal Design of Actuation System for Legged Robots Using Binary Integer Linear Programming
Control- & Task-Aware Optimal Design of Actuation System for Legged Robots Using Binary Integer Linear Programming
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DOI：
10.1109/humanoids57100.2023.10375188
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发表时间：
2023-07
期刊：
影响因子：
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通讯作者：
Youngwoo Sim;Guillermo Colin;João Ramos
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文献类型：
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作者：
Youngwoo Sim;Guillermo Colin;João Ramos
运动机器人需要一个全身驱动系统的设计，利用电机的边界，他们的性能。然而，创造这样的机器人提出了整合设计原则和推理的实际设计选择的挑战。本文提出了一个设计框架，指导设计人员找到最佳的设计选择，以创建一个驱动系统，可以快速产生所需的扭矩和速度，以实现一组给定的任务，通过最大限度地减少惯性和利用执行器之间的合作。该框架作为一个交互式的工具，设计人员负责提供设计规则和候选组件，如电机，减速机构，以及执行器和关节之间的耦合机制。二进制整数线性优化探索设计组合，以找到可以实现一组任务的最佳组件。该框架与200个最佳设计研究与5度自由度（DoF）的腿，专注于实现多个任务（步行，提升）的效果，约束系统中所有电机的质量预算和使用耦合机制。结果提供了一个全面的视图，设计选择和规则如何影响反射惯性，电机的铜损，以及最佳驱动系统的力的能力。
Athletic robots demand a whole-body actuation system design that utilizes motors up to the boundaries of their performance. However, creating such robots poses challenges of integrating design principles and reasoning of practical design choices. This paper presents a design framework that guides designers to find optimal design choices to create an actuation system that can rapidly generate torques and velocities required to achieve a given set of tasks, by minimizing inertia and leveraging cooperation between actuators. The framework serves as an interactive tool for designers who are in charge of providing design rules and candidate components such as motors, reduction mechanism, and coupling mechanisms between actuators and joints. A binary integer linear optimization explores design combinations to find optimal components that can achieve a set of tasks. The framework is demonstrated with 200 optimal design studies of a biped with 5-degree-of-freedom (DoF) legs, focusing on the effect of achieving multiple tasks (walking, lifting), constraining the mass budget of all motors in the system and the use of coupling mechanisms. The result provides a comprehensive view of how design choices and rules affect reflected inertia, copper loss of motors, and force capability of optimal actuation systems.