Keywords
modular-robots, co-design, top-down-development, topology-optimization, informed-decomposition
Problem
Development of a top-down design process for automatic design of modular robots along with integrated topology optimization of its links and possible other components.
Objective
Development of a top-down design process for automatic design of modular robots along with integrated topology optimization of its links and possible other components.
Approach
The design procedure follows a two-step optimization process. The first step accepts the modules as its input to systematically search the design space to obtain physically feasible robot architectures that are capable of solving the prescribed task. This is followed by a multi-component topology optimization procedure done via informed decomposition using neural network based meta-models.