Morphological optimization for tensegrity quadruped locomotion

• Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 3990 - 3995
• Main Authors: Hustig-Schultz, Dawn, SunSpiral, Vytas, Teodorescu, Mircea
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.09.2017
• Subjects: Actuators; Impedance; Legged locomotion; Morphology; Muscles; Tendons

The increasing complexity of soft and hybrid-soft robots highlights the need for more efficient methods of minimizing machine learning solution spaces, and creative ways to ease the process of rapid prototyping. In this paper, we present an initial exploration of this process, using hand-chosen morp...