Computational design of energy-efficient legged robots: Optimizing for size and actuators
G. Fadini T. Flayols A. Del Prete N. Mansard P. Souères G. Fadini T. Flayols A. Del Prete N. Mansard P. Souères
This paper presents a computational framework for the design of high-performance legged robotic systems. The framework relies on the concurrent optimization of hardware parameters and control trajectories to find the best robot design for a given task. In particular, we focus on energy efficiency, presenting novel electro-mechanical models to account for the losses of the actuators due to friction...