Simulation Aided Co-Design for Robust Robot Optimization

This letter outlines a bi-level algorithm to concurrently optimize robot hardware and control parameters in order to minimize energy consumption during the execution of tasks and to ensure robust performance. The outer loop consists in a genetic algorithm that optimizes the co-design variables accor...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 7; no. 4; pp. 11306 - 11313
Main Authors:	Fadini, Gabriele, Flayols, Thomas, Prete, Andrea Del, Soueres, Philippe
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.10.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Actuation Co-design Computational modeling Computer Science Design optimization Dynamic programming Energy consumption Friction Genetic algorithms Hardware Mathematics Mechanism design methods and tools for robot system design Modeling and Simulation Optimization Optimization and Control optimization and optimal control Perturbation Perturbation methods Robot control Robotics Robots robust/adaptive control Robustness Simulation simulation and animation Tracking control Trajectory Trajectory optimization
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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