We present an open-source framework for developing optimal leg designs for walking robots. The leg design parameters (e.g. link lengths, transmission ratios, and spring parameters) are optimized for a user-defined metric such as the minimization of energy consumption or actuator peak torque, enabling the user to better navigate through the high-dimensional and unintuitive design space. Our approach uses the single rigid body dynamics trajectory optimization tool TOWR to generate realistic motion plans. The planned predefined forces and motions are then used to identify actuator velocities and torques. Next, the leg design parameters are optimized using a genetic algorithm. The framework was validated by comparison with measured data on the ANYmal quadruped robot for a trotting motion, with errors in cumulative joint torque and mechanical energy each below 8% per gait cycle. Optimization of the ANYmal link lengths demonstrate that reductions in joint torque, mechanical energy, and mechanical cost of transport in the range of 5-10% are attainable.
This work presents a novel design concept that achieves multi-legged locomotion using a three-dimensional cam system. A computational framework has been developed to analyze and dimension this cam apparatus, that can perform arbitrary end effector motions within its design constraints. The mechanism enables continuous gait transition and inherent force compliance. With only two motors, any trajectory of a continuous set of gaits can be followed. One motor is used to actuate the system and a second one to morph its movement. To illustrate a possible application of this system, a working prototype of a bipedal robot is developed and validated in hardware. It showcases a smooth velocity change by transitioning through different gaits from standing still to walking fast at 124 mm/s within 2.0 s, while following the given end effector trajectory with an error of only 2.47 mm.
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