Maximising Tolerance to Disturbances via Combined Control-Actuation Optimisation for Robust Humanoid Robot Walking

Combined optimisation of various robot subsystems as a co-design problem has been shown to identify performant robots. However, classical optimisation methods result in point-optimum solutions that may not ensure robust performance and physical feasibility, i.e., the existence of components with spe...

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Veröffentlicht in:IEEE robotics and automation letters Jg. 10; H. 5; S. 4348 - 4355
Hauptverfasser: Sathuluri, Akhil, Sartore, Carlotta, Dafarra, Stefano, Traversaro, Silvio, Zimmermann, Markus, Pucci, Daniele
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Piscataway IEEE 01.05.2025
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Actuation
Aerospace electronics
Co-design
Collision avoidance
Design optimization
Disturbances
Gears
Humanoid robot systems
Humanoid robots
Legged locomotion
methods and tools for robot system design
Motors
Optimization
optimization and optimal control
Robots
Robust control
Solution space
Subsystems
Torque
Voltage control
Walking
ISSN:2377-3766, 2377-3766
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Zusammenfassung:Combined optimisation of various robot subsystems as a co-design problem has been shown to identify performant robots. However, classical optimisation methods result in point-optimum solutions that may not ensure robust performance and physical feasibility, i.e., the existence of components with specifications matching the computed optimum value. To address this problem, we present a set-based robust co-design optimisation strategy to maximise disturbance tolerance. Instead of identifying a single point-optimum solution, a so-called solution space evaluates the combination of the largest design space that delivers the necessary performance while being robust to the largest set of disturbances. The utility of the proposed approach is demonstrated via a computational design study of the ergoCub robot. This study focuses on the robots' walking performance, illustrating (1) improvement in task success considering at least 3 times larger magnitudes of disturbances, (2) identifying a set instead of a point-solution in the design-disturbances space, and (3) improving standardisation of the joint actuation design.
Bibliographie:ObjectType-Article-1
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ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2025.3549660