Draft: Design Optimization for Minimizing Actuation Energy of a Dynamic Tripedal Walking Robot—revisiting the Double Pendulum
نویسندگان
چکیده
This work presents a systematic approach to optimizing the mechanical design of a novel Self-excited Tripedal Dynamic Experimental Robot, STriDER. Specifically, we present a numerical optimization-based formulation for the design of STriDER’s mechanical parameters that minimizes the amount of externally supplied actuation energy consumed while taking a single step. The optimal design is found while accounting for STriDER’s dynamical and kinematic constraints. Past prototypes of STriDER have successfully taken completely passive steps. However, the former prototypes required significant manual ‘tweaking’ in order to successfully realize a passive step. This work provides the first systematic process for the proper design of an energy efficient walking STriDER.
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