Vitruvio: An Open-Source Leg Design Optimization Toolbox for Walking Robots
We present an open-source framework for developing optimal leg designs for walking robots. The leg design parameters are optimized for a user-defined metric such as the minimization of energy consumption or actuator peak torque, enabling the user to better navigate through the high-dimensional and unintuitive design space.
Title: Vitruvio: An Open-Source Leg Design Optimization Toolbox for Walking Robots
Authors: Michael Chadwick, Hendrik Kolvenbach, Fabio Dubois, Hong Fai Lau, Marco Hutter
IEEE Robotics and Automation Letters (Volume: 5, Issue: 4, Oct. 2020)
DOI: 10.1109/LRA.2020.3013913
Preprint: https://doi.org/10.3929/ethz-b-000429676
Github: https://github.com/leggedrobotics/vit...
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