/Interactive Co-Design of Form and Function for Legged Robots using the Adjoint Method

Interactive Co-Design of Form and Function for Legged Robots using the Adjoint Method

Ruta Desai, Beichen Li, Ye Yuan and Stelian Coros
Conference Paper, 21st International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2018), September, 2018

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Abstract

Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots. Towards this goal, we present an interactive computational design system that enables users to design legged robots with desired morphologies and behaviors by specifying higher level descriptions. The core of our method is a design optimization technique that reasons about the structure and motion of a robot in a coupled manner to achieve user-specified robot behavior and performance. We are inspired by the recent works that also aim to jointly optimize robot’s form and function. However, through efficient computation of necessary design changes, our approach enables us to keep user-in-the-loop for interactive applications. We evaluate our system in simulation by starting with initial user designs that are physically infeasible or inadequate to perform the user-desired task. We then show optimized designs that achieve user-specifications, all while ensuring an interactive design flow.

BibTeX Reference
@conference{Desai-2018-107745,
author = {Ruta Desai and Beichen Li and Ye Yuan and Stelian Coros},
title = {Interactive Co-Design of Form and Function for Legged Robots using the Adjoint Method},
booktitle = {21st International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2018)},
year = {2018},
month = {September},
publisher = {Proceedings of 21st International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2018)},
keywords = {Optimization, Automatic design, Computer graphics, Legged robots, Computational design tools},
}
2018-09-27T10:19:32+00:00