Co-design of an incomplete-drive hopping robot: comparative analysis of virtual and full-scale experiments
https://doi.org/10.17586/0021-3454-2022-65-12-863-873
Abstract
The forward and inverse design tasks of an incomplete-drive hopping robot capable of energy-efficient dynamic locomotion are considered. A solution to the direct design problem of simulating a robot in a virtual environment in order to study its behavior and performance is presented. A solution of the inverse design problem is obtained, which consists in the formation of requirements and the search for robot parameters that ensure its best performance. Since simulation modeling does not fully reflect the processes occurring in real life, the design results tested exclusively in a virtual environment cannot fully describe the results of a real experiment and replace them. The results of virtual and full- scale experiments of a prototype of a non-wheel drive jumping robot are compared, and the rationale for the discrepan- cies in the data obtained is given.
Keywords
forward design task,
inverse design task,
incomplete-drive robot,
morphological computation,
co-design
Supporting agencies: The work was supported by a grant from the President of the Russian Federation (No. MK2081.2022.4).
About the Authors
D. V. Ivolga
ITMO University
Russian Federation
Russian Federation
Dmitry V. Ivolga — Faculty of Control Systems and Robotics, Laboratory of Biomechatronics and Energy-Efficient Robotics; Engineer
St. Petersburg
K. V. Nasonov
ITMO University
Russian Federation
Russian Federation
Kirill V. Nasonov — Faculty of Control Systems and Robotics, Laboratory of Biomechatron-ics and Energy-Efficient Robotics; Engineer
St. Petersburg
I. I. Borisov
ITMO University
Russian Federation
Russian Federation
Ivan I. Borisov — PhD, Faculty of Control Systems and Robotics, Laboratory of Biomechatron-ics and Energy-Efficient Robotics; Researcher
St. Petersburg
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Review
For citations:
Ivolga D.V., Nasonov K.V., Borisov I.I. Co-design of an incomplete-drive hopping robot: comparative analysis of virtual and full-scale experiments. Journal of Instrument Engineering. 2022;65(12):863-873. (In Russ.) https://doi.org/10.17586/0021-3454-2022-65-12-863-873
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