Abstract:We present a novel computational approach to optimizing the morphological design of robots. Our framework takes as input a parameterized robot design as well as a motion plan consisting of trajectories for end-effectors and, optionally, for its body. The algorithm optimizes the design parameters including link lengths and actuator placements whereas concurrently adjusting motion parameters such as joint trajectories, actuator inputs, and contact forces. Our key insight is that the complex relationship between … Show more
“…rough the questionnaire survey, the tennis players' scoring criteria are set up [31,32]. e content of the questionnaire is divided into two parts: the first part is "evaluation indicators.…”
Section: Establishment Of Evaluation Indexmentioning
This paper studies the remote evaluation system of tennis batting action standard based on acceleration sensor, which aims to help improve the standard degree and technical level of tennis batting action. The system includes a data acquisition module to collect original signal data of tennis batting action by the acceleration sensor signal acquisition device in the bracelet and upload to the personal computer (PC) for storage, data preprocessing module to smooth original signal data and extract the key time and frequency domain features as the evaluation basis, and remote evaluation module to assess tennis batting action standard. We applied our system to five tennis trainees from the experimental university, and the results show that the batting action standard level of student c and student e is lower. Student c is weak mainly in the best position of the hitting point and the timing of the lead shot, while student e mainly shows poor performance in the timing of movement and the stability of the overall center of gravity. Compared with the proposed system or device, our system has a short real-time delay under the concurrent use of different types of users indicating stable and high real-time evaluation performance. More importantly, our system strictly protects the user’s privacy when uploading the user’s data remotely. In short, the evaluation results obtained by our system can be used as a scientific basis to improve the tennis batting action standard.
“…rough the questionnaire survey, the tennis players' scoring criteria are set up [31,32]. e content of the questionnaire is divided into two parts: the first part is "evaluation indicators.…”
Section: Establishment Of Evaluation Indexmentioning
This paper studies the remote evaluation system of tennis batting action standard based on acceleration sensor, which aims to help improve the standard degree and technical level of tennis batting action. The system includes a data acquisition module to collect original signal data of tennis batting action by the acceleration sensor signal acquisition device in the bracelet and upload to the personal computer (PC) for storage, data preprocessing module to smooth original signal data and extract the key time and frequency domain features as the evaluation basis, and remote evaluation module to assess tennis batting action standard. We applied our system to five tennis trainees from the experimental university, and the results show that the batting action standard level of student c and student e is lower. Student c is weak mainly in the best position of the hitting point and the timing of the lead shot, while student e mainly shows poor performance in the timing of movement and the stability of the overall center of gravity. Compared with the proposed system or device, our system has a short real-time delay under the concurrent use of different types of users indicating stable and high real-time evaluation performance. More importantly, our system strictly protects the user’s privacy when uploading the user’s data remotely. In short, the evaluation results obtained by our system can be used as a scientific basis to improve the tennis batting action standard.
“…The twists representing three joints were then optimized, and we obtained the following twists: . (21) In this case, the sum of the squared differences was less than that in the previous case by one order of magnitude; it was e = 3.07×10 −6 [J.s].…”
Section: ) Optimization Results For Three Jointsmentioning
confidence: 72%
“…In addition, a computation method has been proposed for the kinematic synthesis and design of a manipulator based on its dynamics [19], [20]. By considering the dynamics of the system, Ha et al [21] proposed a flexible computational approach to optimize the design of the open-and closed-loop robots with the motion trajectory itself by considering the trajectory as the design parameter and using the implicit function theorem.…”
In this paper, we propose an optimization method to determine the design parameters comprising joint displacement parameters in a serial manipulator having small degrees of freedom realizing an approximated target trajectory. Using generalized differential kinematics, we can achieve efficient optimization without solving the inner-loop optimization required to obtain the reachable points.
“…Recent works in robotics investigate simultaneously optimizing body design and control of a legged robot [29,30] using constraint-based modeling, which is related to our RL-based approach. Related to our work, [1,24] employ CMA-ES [31] to optimize over both the motion control and physical configuration of agents.…”
In many reinforcement learning tasks, the goal is to learn a policy to manipulate an agent, whose design is fixed, to maximize some notion of cumulative reward. The design of the agent's physical structure is rarely optimized for the task at hand. In this work, we explore the possibility of learning a version of the agent's design that is better suited for its task, jointly with the policy. We propose an alteration to the popular OpenAI Gym framework, where we parameterize parts of an environment, and allow an agent to jointly learn to modify these environment parameters along with its policy. We demonstrate that an agent can learn a better structure of its body that is not only better suited for the task, but also facilitates policy learning. Joint learning of policy and structure may even uncover design principles that are useful for assisted-design applications.
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