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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Bibliographic Details
Published in:	Robotica Vol. 42; no. 6; pp. 2004 - 2025
Main Authors:	Fadini, Gabriele, Kumar, Shivesh, Kumar, Rohit, Flayols, Thomas, Del Prete, Andrea, Carpentier, Justin, Souères, Philippe
Format:	Journal Article
Language:	English
Published:	Cambridge, UK Cambridge University Press 01.06.2024
Subjects:	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
Online Access:	Get full text
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