A Simulation Framework for Simultaneous Design and Control of Passivity Based Walkers

Guilhem Saurel (1, 2, 3) , Justin Carpentier (3, 1) , Nicolas Mansard (1, 3) , Jean-Paul Laumond (3, 1)

1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
2 INSA Toulouse - Institut National des Sciences Appliquées - Toulouse
3 CNRS - Centre National de la Recherche Scientifique

In this paper, we propose a simulation framework which simultaneously computes both the design and the control of bipedal walkers. The problem of computing a design and a control is formulated as a single large-scale parametric optimal control problem on hybrid dynamics with path constraints (e.g. non sliding and non slipping contact constraints). Our framework relies on state-of-the-art numerical optimal control techniques and efficient computation of the multi-body rigid dynamics. It allows to compute both the parametrized model and the control of passive walkers on different scenarios, in only few seconds on a standard computer. The framework is illustrated by several examples which highlight the interest of the approach.

Mots clés: Optimal control; Dynamic simulation

Domaines: Robotique [cs.RO]

Guilhem Saurel, Justin Carpentier, Nicolas Mansard, Jean-Paul Laumond. A Simulation Framework for Simultaneous Design and Control of Passivity Based Walkers. 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots SIMPAR, Dec 2016, San Francisco, United States. ⟨10.1109/SIMPAR.2016.7862383⟩. ⟨hal-01360450v2⟩