動的脚式ロボットのための汎用コデザインフレームワーク
A Versatile Co-Design Approach For Dynamic Legged Robots
二段階最適化を用いて、脚式ロボットの形態・質量分布・アクチュエータを動力学や摩擦制約を考慮しつつ動作と同時に設計する手法を提案し、跳躍・トロット動作で省エネな四脚ロボットを設計できることを示した。
著者: Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar
分類: cs.RO
原文アブストラクト
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel optimization approach that exploits the derivatives of the motion planning sub-problem (i.e., the lower level). These motion-planning derivatives allow us to incorporate arbitrary design constraints and costs in an general-purpose nonlinear program (i.e., the upper level). Our approach allows for the use of any differentiable motion planner in the lower level and also allows for an upper level that captures arbitrary design constraints and costs. It efficiently optimizes the robot's morphology, payload distribution and actuator parameters while considering its full dynamics, joint limits and physical constraints such as friction cones. We demonstrate these capabilities by designing quadruped robots that jump and trot. We show that our method is able to design a more energy-efficient Solo robot for these tasks.
