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Gait Generation Balancing Joint Load and Mobility for Legged Modular Robots with Easily Detachable Joints

Kennosuke Chihara, Takuya Kiyokawa, Kensuke Harada

Abstract

While modular robots offer versatility, excessive joint torque during locomotion poses a significant risk of mechanical failure, especially for detachable joints. To address this, we propose an optimization framework using the NSGA-III algorithm. Unlike conventional approaches that prioritize mobility alone, our method derives Pareto optimal solutions to minimize joint load while maintaining necessary locomotion speed and stability. Simulations and physical experiments demonstrate that our approach successfully generates gait motions for diverse environments, such as slopes and steps, ensuring structural integrity without compromising overall mobility.

Gait Generation Balancing Joint Load and Mobility for Legged Modular Robots with Easily Detachable Joints

Abstract

While modular robots offer versatility, excessive joint torque during locomotion poses a significant risk of mechanical failure, especially for detachable joints. To address this, we propose an optimization framework using the NSGA-III algorithm. Unlike conventional approaches that prioritize mobility alone, our method derives Pareto optimal solutions to minimize joint load while maintaining necessary locomotion speed and stability. Simulations and physical experiments demonstrate that our approach successfully generates gait motions for diverse environments, such as slopes and steps, ensuring structural integrity without compromising overall mobility.
Paper Structure (15 sections, 4 equations, 16 figures, 4 tables)

This paper contains 15 sections, 4 equations, 16 figures, 4 tables.

Table of Contents

  1. Introduction
  2. Proposed Method
  3. Problem Setting
  4. Optimization Problem and Decision Variables
  5. Definition of Objective Functions
  6. Experiments
  7. Overview
  8. Performance Changes due to Joint Load Consideration
  9. Adaptive Capabilities Analysis by Environment and Gait
  10. Statistical Analysis of Factors Affecting Joint Load
  11. Feasibility Verification on Physical Robot
  12. Discussions
  13. Optimization Trade-offs under Morphological Constraints
  14. Sim-to-Real Gap and Hardware Limitations
  15. Conclusion

Figures (16)

  • Figure 1: Overview of the proposed multi-objective gait generation framework balancing locomotion speed, stability, and joint load.
  • Figure 2: Detachable joint
  • Figure 3: Link structure
  • Figure 5: 4-legged
  • Figure 6: 6-legged
  • ...and 11 more figures