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