computation-driven design for legged robotsprof. stelian coros department of computer science...
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![Page 1: Computation-driven design for legged robotsProf. Stelian Coros Department of Computer Science Computation-driven design for legged robots Computational Robotics Lab. The Computational](https://reader033.vdocuments.mx/reader033/viewer/2022041519/5e2d5668629ba02bc1490059/html5/thumbnails/1.jpg)
The Computational Robotics Lab
Prof. Stelian Coros
Department of Computer Science
Computation-driven design for legged robots
Computational
Robotics Lab
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The Computational Robotics Lab
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The Computational Robotics Lab
The three pillars of our research program
dexterous
manipulation
form and function for
compliant systems
mobility
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The Computational Robotics Lab
Robots need to become much easier to create, program and deploy
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The Computational Robotics Lab
Robots need to become much easier to create, program and deploy
[Siggraph 2018]
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The Computational Robotics Lab
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Motion parameters:
Motion constraints:
n
t1
t2
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Motion parameters:
Motion constraints:
𝜌(𝛼)𝜔(𝛼)
𝑡(𝛼)
𝑒
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Motion parameters:
Motion constraints:
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Motion parameters:
Stable, skilled motions are generated through optimization:
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The Computational Robotics Lab [Siggraph 2018]
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The Computational Robotics Lab
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The Computational Robotics Lab 1
3
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The Computational Robotics Lab
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The Computational Robotics Lab
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Forward and Inverse Design
• Forward design:
– User input: robot design
– System output: motion controller
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Forward and Inverse Design
• Forward design:
– User input: robot design
– System output: motion controller
• Inverse design:
– User input: high-level task
– System output: robot design and motion controller
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Specifying the morphological design for a robot that can accomplish a specific task can still be rather difficult
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High-level task
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Design Vocabulary
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The Design Space
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The Design Space
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Heuristic-guided best-first search
Intermediate Design Hybrid Design
VirtualEnd Effector
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Forward and Inverse Design
• Forward design:
– User input: robot design
– System output: motion controller
• Inverse design:
– User input: high-level task
– System output: robot design and motion controller
![Page 29: Computation-driven design for legged robotsProf. Stelian Coros Department of Computer Science Computation-driven design for legged robots Computational Robotics Lab. The Computational](https://reader033.vdocuments.mx/reader033/viewer/2022041519/5e2d5668629ba02bc1490059/html5/thumbnails/29.jpg)
Motion parameters: p
Stable, skilled motions are generated through optimization:
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, ∀𝐩
𝑑𝐦
𝑑𝐩= −
𝜕𝐆
𝜕𝐦
−𝟏 𝜕𝐆
𝜕𝐩
p
𝑑𝐆
𝑑𝐩=
𝜕𝐆
𝜕𝐩
𝑑𝐦
𝑑𝐩+ 𝜕𝐆
𝜕𝐩= 𝟎
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𝚫𝐩 =𝜕𝐦
𝜕𝐩
+
𝚫𝐦
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𝚫𝐩 =𝜕𝐦
𝜕𝐩
+
𝚫𝐦
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𝚫𝐩 =𝜕𝐦
𝜕𝐩
+
𝚫𝐦
Actuation forces reduced by ~50%
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||The Computational Robotics Lab
Where to next?
IHMC’s Nadia
Understand how robots can exploit soft
materials as effectively as living things do
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||The Computational Robotics Lab
Thank you!
Sep 5, 2018Stelian Coros 38
Computational Robotics Lab, ETH Zurich