A Simulation Framework for Simultaneous Design and Control of Passive Walkers

Guilhem Saurel (1, 2) , Justin Carpentier (2, 3) , Jean-Paul Laumond (2)

1 INSA Toulouse - Institut National des Sciences Appliquées - Toulouse
2 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
3 UT3 - Université Toulouse III - Paul Sabatier

In this paper, we propose a simulation framework which simultaneously computes both the design and the control of passive walkers. The problem of computing a design and a control is formulated as a single large-scale parametric optimal control problem on hybrid dynamics with path constraints (e.g. non sliding and non slipping contact constraints). Our framework relies on state-of-the-art numerical optimal control techniques and efficient computation of the multi-body rigid dynamics. It allows to compute both the parametrized model and the control of passive walkers on different scenarios, in only few seconds on a standard computer. The framework is illustrated by several examples which highlight the interest of the approach.

Mots clés: Optimal control; Dynamic simulation

Domaines: Robotique [cs.RO]

Guilhem Saurel, Justin Carpentier, Jean-Paul Laumond. A Simulation Framework for Simultaneous Design and Control of Passive Walkers. 2016. ⟨hal-01360450v1⟩