Co-designing versatile quadruped robots for dynamic and energy-efficient motions

This paper presents a concurrent optimization approach for the design and motion of a quadruped in order to achieve energy-efficient cyclic behaviors. Computational techniques are applied to improve the development of a novel quadruped prototype. The scale of the robot and its actuators are optimize...

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Vydáno v:	Robotica Ročník 42; číslo 6; s. 2004 - 2025
Hlavní autoři:	Fadini, Gabriele, Kumar, Shivesh, Kumar, Rohit, Flayols, Thomas, Del Prete, Andrea, Carpentier, Justin, Souères, Philippe
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	Cambridge, UK Cambridge University Press 01.06.2024
Témata:	Actuators Co-design Computer Science Design optimization Energy efficiency Genetic algorithms Kinematics Mathematics Mechanical engineering Mechanics Optimization algorithms Optimization and Control Physics Power consumption Prototypes Robot dynamics Robotics Robots Trajectory optimization mechanism design simulation and animation legged robots actuation and joint mechanisms methods and tools for robot system design optimization and optimal control Optimization and Optimal Control Methods and Tools for Robot System Design Simulation and Animation Mechanism Design
ISSN:	0263-5747, 1469-8668
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Abstract	This paper presents a concurrent optimization approach for the design and motion of a quadruped in order to achieve energy-efficient cyclic behaviors. Computational techniques are applied to improve the development of a novel quadruped prototype. The scale of the robot and its actuators are optimized for energy efficiency considering the complete actuator model including friction, torque, and bandwidth limitations. This method and the optimal bounding trajectories are tested on the first (non-optimized) prototype design iteration showing that our formulation produces a trajectory that (i) can be easily replayed on the real robot and (ii) reduces the power consumption w.r.t. hand-tuned motion heuristics. Power consumption is then optimized for several periodic tasks with co-design. Our results include, but are not limited to, a bounding and backflip task. It appears that, for jumping forward, robots with longer thighs perform better, while, for backflips, longer shanks are better suited. To explore the tradeoff between these different designs, a Pareto set is constructed to guide the next iteration of the prototype. On this set, we find a new design, which will be produced in future work, showing an improvement of at least 52% for each separate task.
AbstractList	This paper presents a concurrent optimization approach for the design and motion of a quadruped in order to achieve energy-efficient cyclic behaviors. Computational techniques are applied to improve the development of a novel quadruped prototype. The scale of the robot and its actuators are optimized for energy efficiency considering the complete actuator model including friction, torque, and bandwidth limitations. This method and the optimal bounding trajectories are tested on the first (non-optimized) prototype design iteration showing that our formulation produces a trajectory that (i) can be easily replayed on the real robot and (ii) reduces the power consumption w.r.t. hand-tuned motion heuristics. Power consumption is then optimized for several periodic tasks with co-design. Our results include, but are not limited to, a bounding and backflip task. It appears that, for jumping forward, robots with longer thighs perform better, while, for backflips, longer shanks are better suited. To explore the tradeoff between these different designs, a Pareto set is constructed to guide the next iteration of the prototype. On this set, we find a new design, which will be produced in future work, showing an improvement of at least 52% for each separate task. This paper presents a bi-level optimization framework to concurrently optimize a quadruped hardware and control policies for achieving dynamic cyclic behaviors. The longterm vision to drive the design of dynamic and efficient robots by means of computational techniques is applied to improve the development of a new quadruped prototype. The scale of the robot and its actuators are optimized for energy efficiency considering a complete model of the motor, that includes friction, torque, and bandwidth limitations. This model is used to optimize the power consumption during bounding and backflip tasks and is validated by tracking the output trajectories on the first prototype iteration. The co-design results show an improvement of up to 87% for a single task optimization. It appears that, for jumping forward, robots with longer thighs perform better, while for backflips, longer shanks are better suited. To understand the trade-off between these different choices, a Pareto set is constructed to guide the design of the next prototype.
Author	Kumar, Shivesh Kumar, Rohit Del Prete, Andrea Fadini, Gabriele Souères, Philippe Flayols, Thomas Carpentier, Justin
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Copyright	The Author(s), 2024. Published by Cambridge University Press The Author(s), 2024. Published by Cambridge University Press. This work is licensed under the Creative Commons Attribution License This is an Open Access article, distributed under the terms of the Creative Commons Attribution licence (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted re-use, distribution and reproduction, provided the original article is properly cited. (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. licence_http://creativecommons.org/publicdomain/zero
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Keywords	mechanism design simulation and animation legged robots actuation and joint mechanisms methods and tools for robot system design optimization and optimal control Optimization and Optimal Control Methods and Tools for Robot System Design Simulation and Animation Mechanism Design
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Snippet	This paper presents a concurrent optimization approach for the design and motion of a quadruped in order to achieve energy-efficient cyclic behaviors.... This paper presents a bi-level optimization framework to concurrently optimize a quadruped hardware and control policies for achieving dynamic cyclic...
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StartPage	2004
SubjectTerms	Actuators Co-design Computer Science Design optimization Energy efficiency Genetic algorithms Kinematics Mathematics Mechanical engineering Mechanics Optimization algorithms Optimization and Control Physics Power consumption Prototypes Robot dynamics Robotics Robots Trajectory optimization
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Title	Co-designing versatile quadruped robots for dynamic and energy-efficient motions
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Volume	42
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