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Concurrent Optimization of Mechanical Design and Locomotion Control of a Legged Robot

  • Authors: Digumarti, K. M.; Gehring, C.; Coros, S.; Hwangbo, J.; Siegwart, R.

This paper introduces a method to simultaneously optimize design and control parameters for legged robots to improve the performance of locomotion based tasks. The morphology of a quadrupedal robot was optimized for a trotting and bounding gait to achieve a certain speed while tuning the control parameters of a robust locomotion controller at the same time. The results of the optimization show that a change of the structure of the robot can help increase its admissable top speed while using the same actuation units.

Posted on: July 16, 2014