Actuator Design of Compliant Walkers via Optimal Control

Gabriele Buondonno (1) , Justin Carpentier (2) , Guilhem Saurel (3, 2) , Nicolas Mansard (2) , Alessandro de Luca (1) , Jean-Paul Laumond (2)

1 UNIROMA - Università degli Studi di Roma "La Sapienza" = Sapienza University [Rome]
2 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
3 INSA Toulouse - Institut National des Sciences Appliquées - Toulouse

We present an optimization framework for the design and analysis of under-actuated biped walkers, characterized by passive or actuated joints with rigid or non-negligible elastic actuation/transmission elements. The framework is based on optimal control, dealing with geometric constraints and various dynamic objective functions, as well as boundary conditions, which helps in selecting optimal values both for the actuation and the transmission parameters. Solutions of the formulated problems are shown for different kinds of bipedal architectures, and comparisons drawn between traditional rigid robots and compliant ones show the energy-efficiency of compliant actuators in the context of locomotion.

Mots clés: Bipedal robot; Optimal Design; Compliant Actuators

Domaines: Optimisation et contrôle [math.OC]; Automatique / Robotique

Gabriele Buondonno, Justin Carpentier, Guilhem Saurel, Nicolas Mansard, Alessandro de Luca, et al.. Actuator Design of Compliant Walkers via Optimal Control. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Sep 2017, Vancouver, Canada. 7p. ⟨hal-01483567v2⟩