RA-L 20234 citations
Optimal Design of Flexible-Link Mechanisms With Desired Load-Displacement Profiles
Guirec Maloisel, Espen Knoop, Christian Schumacher, Bernhard Thomaszewski, Moritz Bächer, Stelian Coros
Abstract
Robot mechanisms that exploit compliance can perform complex tasks under uncertainty using simple control strategies, but it remains difficult to design mechanisms with a desired embodied intelligence. In this article, we propose an automated design technique that optimizes the desired load-displacement behavior of planar flexible-link mechanisms. To do so, we replace a subset of rigid with flexible links in an existing mechanism, and optimize their rest shape. We demonstrate the efficacy of our approach on a set of examples, including two fabricated prototypes, illustrating applications for grasping and locomotion tasks.
BibTeX
@inproceedings{ral2023_optimaldesignoff,
title = {Optimal Design of Flexible-Link Mechanisms With Desired Load-Displacement Profiles},
author = {Guirec Maloisel and Espen Knoop and Christian Schumacher and Bernhard Thomaszewski and Moritz Bächer and Stelian Coros},
booktitle = {RA-L 2023},
year = {2023}
}