Co-optimization of Acrobot Design and Controller for Increased Certifiable Stability

Maywald, Lasse; Wiebe, Felix; Kumar, Shivesh; Javadi, Mahdi; Kirchner, Frank

doi:10.1109/iros47612.2022.9981825

Cited by 3 publications

(2 citation statements)

References 17 publications

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“…In the following, we consider the closed-loop dynamics of the system under LQR control and focus on the volume of the ROA associated to the fixed point of the upright pose. Link lengths l 1 and l 2 have been determined by employing a design optimization similar to the one introduced in [17], with the only difference being that the ROA estimation was carried out using SOS optimization. During the optimization, the masses were kept constant ( .…”

Section: System Designmentioning

confidence: 99%

Open Source Dual-Purpose Acrobot and Pendubot Platform: Benchmarking Control Algorithms for Underactuated Robotics

Wiebe,

Kumar,

Shala

et al. 2024

IEEE Robot. Automat. Mag.

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Recent interest in the control of underactuated robots has surged significantly due to the impressive athletic behaviors shown by robots developed by, e.g., Boston Dynamics (https:// www.bostondynamics.com), Agility Robotics (https://agility robotics.com/robots), and the Massachusetts Institute of Technology [1]. This gives rise to the need for canonical robotic hardware setups for studying underactuation and comparing learning and control algorithms for their performance and robustness. Similar to OpenAIGym [2] and Stable Baselines [3], which provide simulated benchmarking environments and baselines for reinforcement learning algorithms, there is a need for benchmarking learning and control methods on real canonical hardware setups. To encourage reproducibility in robotics and artificial intelligence research, these hardware setups should be affordable and easy to manufacture with offthe-shelf components, and the accompanying software should be open source. Acrobots and pendubots are classical textbook examples of canonical underactuated systems with strong nonlinear dynamics, and their swing-up and upright balancing is considered a challenging control problem, especially on real hardware.

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Section: System Designmentioning

confidence: 99%

Open Source Dual-Purpose Acrobot and Pendubot Platform: Benchmarking Control Algorithms for Underactuated Robotics

Wiebe,

Kumar,

Shala

et al. 2024

IEEE Robot. Automat. Mag.

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show abstract

“…Some preliminary results in integrating the trajectory stabilization at the design level for simple underactuated systems can be found in ref. [31,32]. In refs.…”

Section: Introductionmentioning

confidence: 99%

Co-designing versatile quadruped robots for dynamic and energy-efficient motions

Fadini,

Kumar,

Kumar

et al. 2024

Robotica

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This paper presents a concurrent optimization approach for the design and motion of a quadruped in order to achieve energy-efficient cyclic behaviors. Computational techniques are applied to improve the development of a novel quadruped prototype. The scale of the robot and its actuators are optimized for energy efficiency considering the complete actuator model including friction, torque, and bandwidth limitations. This method and the optimal bounding trajectories are tested on the first (non-optimized) prototype design iteration showing that our formulation produces a trajectory that (i) can be easily replayed on the real robot and (ii) reduces the power consumption w.r.t. hand-tuned motion heuristics. Power consumption is then optimized for several periodic tasks with co-design. Our results include, but are not limited to, a bounding and backflip task. It appears that, for jumping forward, robots with longer thighs perform better, while, for backflips, longer shanks are better suited. To explore the tradeoff between these different designs, a Pareto set is constructed to guide the next iteration of the prototype. On this set, we find a new design, which will be produced in future work, showing an improvement of at least 52% for each separate task.

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Robust Co-Design of Canonical Underactuated Systems for Increased Certifiable Stability

Girlanda,

Shala,

Kumar

et al. 2024

2024 IEEE International Conference on Robotics and Automation (ICRA)

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Co-optimization of Acrobot Design and Controller for Increased Certifiable Stability

Cited by 3 publications

References 17 publications

Open Source Dual-Purpose Acrobot and Pendubot Platform: Benchmarking Control Algorithms for Underactuated Robotics

Open Source Dual-Purpose Acrobot and Pendubot Platform: Benchmarking Control Algorithms for Underactuated Robotics

Co-designing versatile quadruped robots for dynamic and energy-efficient motions

Robust Co-Design of Canonical Underactuated Systems for Increased Certifiable Stability

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