A simulation framework for simultaneous design and control of passivity based walkers
- Resource Type
- Conference
- Authors
- Saurel, Guilhem; Carpentier, Justin; Mansard, Nicolas; Laumond, Jean-Paul
- Source
- 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR) Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), IEEE International Conference on. :104-110 Dec, 2016
- Subject
- Robotics and Control Systems
Computational modeling
Optimal control
Cost function
Legged locomotion
Numerical models
Trajectory
- Language
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.