Our Expertise | BIOMECHANICS

Introducing Skippy: an athletic monopedal robot, designed for a repertoire of behaviors

Demonstrating the effectiveness of a systematic, complete design approach to achieve extreme, unprecedented behaviors

Newsletter EnginSoft Year 17 n°1
By Antonios E. Gkikakis and Roy Featherstone | Istituto Italiano di Tecnologia (IIT)
Introducing Skippy: an athletic monopedal robot, designed for a repertoire of behaviors
Introducing Skippy: an athletic monopedal robot, designed for a repertoire of behaviors

Abstract

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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