Publication
This paper introduces a method to simultaneously optimize design and control parameters for legged robots to improve the performance of locomotion based tasks. The morphology of a quadrupedal robot was optimized for a trotting and bounding gait to achieve a certain speed while tuning the control parameters of a robust locomotion controller at the same time. The results of the optimization show that a change of the structure of the robot can help increase its admissable top speed while using the same actuation units.
Sylvain Calinon, Teguh Santoso Lembono
Yves Perriard, Paolo Germano, Thomas Guillaume Martinez, Sean Thomas