A Unified Optimization Framework and New Set of Performance Metrics for Robot Leg Design
Chathura Semasinghe Drake Taylor Siavash Rezazadeh Chathura Semasinghe Drake Taylor Siavash Rezazadeh
This work presents a framework for the simultaneous optimization of motors, transmissions, and mechanisms of different joints of robotic legs with the goal of achieving an energy efficient, precisely controllable and stable locomotion in dynamic environments. This unified framework allowed us to introduce and formulate new performance metrics for the separate evaluation of the system's stabilizing...