This article discusses a realistic multi-objective parameter optimization study of a highly athletic one-legged robot, called Skippy, in which both the parameters of the mechanism and the parameters of its optimal behaviors were sought. The result is a Pareto front of robot designs that meet or surpass a set of behavioral performance objectives and, for each design, the set of command signals that accomplish these behaviors.
The aim of the study was to identify a design that could meet all of the objectives, and then to build a real robot based on the optimal design. The study, which was restricted to planar motions (two dimensions), is highly realistic and detailed.
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CASE STUDY
This article presents an example of a proposed design optimization approach with a case study.
biomechanics modefrontier
CASE STUDY
Optimization tools, and specifically response surface methods (RSM), can be adapted very well in the design process to provide information around the design of a compressor stage. This article will cover two of the possible optimization uses: the search of optimum performance and data generation.
modefrontier optimization mechanics