CLEO: Closed-Loop kinematics Evolutionary Optimization of bipedal structures - LAAS - Laboratoire d'Analyse et d'Architecture des Systèmes
Pré-Publication, Document De Travail Année : 2024

CLEO: Closed-Loop kinematics Evolutionary Optimization of bipedal structures

Résumé

Progress in hardware design is crucial for achieving better artificial locomotion. There is a significant ongoing effort in the community to leverage dynamic capabilities of serialparallel architectures in the design of humanoid legs. However, designing such systems involves addressing high-dimensional, complex, and multi-objective challenges, where conventional optimization approaches may encounter limitations or rely on additional know-how of the human designer.

In this paper, we propose a general approach to assist the design of serial-parallel humanoid legs using an evolutionary optimization strategy. The optimization problem incorporates design constraints and locomotion-task requirements as objective functions. It uses parallelized trajectory evaluation for efficient exploration of the design space. The effectiveness of the design methodology is shown by optimizing a new leg architecture, that fully exploits the capabilities offered by kinematic closure. The optimized leg design meets practical constraints related to foot position, joint placement, and force transmission, ensuring stability and locomotion performance. We improve our design robustness by including several criteria that increase structural stiffness. The optimized leg exhibits desirable properties and matches the required simulation design constraints. Furthermore, we compare 3D-printed prototypes and experimentally validate the impact and choice of the design criteria.

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Dates et versions

hal-04717159 , version 1 (01-10-2024)

Identifiants

  • HAL Id : hal-04717159 , version 1

Citer

Virgile Batto, Ludovic de Matteis, Thomas Flayols, Margot Vulliez, Nicolas Mansard. CLEO: Closed-Loop kinematics Evolutionary Optimization of bipedal structures. 2024. ⟨hal-04717159⟩
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