腱駆動ロボットにおける可変中継点を考慮したワイヤ配置の数値シミュレーションによる設計最適化
Design Optimization of Wire Arrangement with Variable Relay Points in Numerical Simulation for Tendon-driven Robots
腱駆動ロボットのワイヤ配置を、始点・複数の中継点・終点で表現し、操作力空間と速度空間を同時に考慮した多目的ブラックボックス最適化により設計する手法を提案した。
著者: Kento Kawaharazuka, Shunnosuke Yoshimura, Temma Suzuki, Kei Okada, Masayuki Inaba
分類: cs.RO
原文アブストラクト
One of the most important features of tendon-driven robots is the ease of wire arrangement and the degree of freedom it affords, enabling the construction of a body that satisfies the desired characteristics by modifying the wire arrangement. Various wire arrangement optimization methods have been proposed, but they have simplified the configuration by assuming that the moment arm of wires to joints are constant, or by disregarding wire arrangements that span multiple joints and include relay points. In this study, we formulate a more flexible wire arrangement optimization problem in which each wire is represented by a start point, multiple relay points, and an end point, and achieve the desired physical performance based on black-box optimization. We consider a multi-objective optimization which simultaneously takes into account both the feasible operational force space and velocity space, and discuss the optimization results obtained from various configurations.
