OPTIMIZING A QUADRUPED ROBOT: A COMPARISON OF TWO METHODS

  • 1Department of Robotics, Faculty of Mechanical Engineering, VSB-TU Ostrava, Ostrava, CZ
  • 2Department of Machining, Assembly and Engineering Metrology, Faculty of Mechanical Engineering, VSB-TU Ostrava, Ostrava, CZ
  • 3Department of Mechatronics, Faculty of Mechanical Engineering, Technical University of Kosice, Kosice, SK

Abstract

Robots that have been optimized in simulation often underperform in the real world in comparison to their simulated counterparts. This difference in performance is often called a reality-gap. In this paper, we use two methods, genetic algorithm and topology optimization, to optimize a quadruped robot. We look at the original and optimized robots’ performance in simulation and reality and compare the results. Both methods show improvement in the robot’s efficiency, however the topology optimization behaves in a more predictable manner and shows similar results in simulation and in real laboratory testing. Modifying robot morphology with a genetic algorithm, although less predictable, has a potential for more improvement in efficiency.

Recommended articles

COGENERATION UNIT NOISE REDUCTION BY ITS CASE

RADEK STRAMBERSKY, VACLAV PAVELKA, TOMAS PAWLENKA, PAVEL SURANEK, LESZEK MORZYNSKI
Keywords: Cogeneration unit | noise | acoustic camera | beamforming | noise measurement

INFLUENCE OF THE PRESSURE DIE GEOMETRY ON THE BENT TUBE OVALITY

JAN RIHACEK, MICHAELA CISAROVA, EVA PETERKOVA, KAMIL PODANY
Keywords: finite element analysis | numerical simulation | ANSYS | 34MnB5 steel | tube bending

INFLUENCE OF RUNNER CROSS-SECTION ON AIR ENTRAPMENT IN PRESSURE DIE CASTS VOLUME

STEFAN GASPAR, JAN MAJERNIK, TOMAS CORANIC, JAN PASKO
Keywords: HPDC | air entrapment | runner dimensions

ANALYZING THE PERFORMANCE OF CIRCLE SEGMENT END MILL WITH PCD INSERTS WITH LASER-MACHINED INTEGRAL CHIPBREAKER WHEN DRY MILLING OF ADDITIVE MANUFACTURED TI-6AL-4V TITANIUM ALLOY

TOMAS TRCKA, ALES POLZER
Keywords: circle segment end mill | laser technology | chipbreaker | Ti-6Al-4V | PCD | additive manufacturing.