兼顾跳跃高度与能耗，实现足式机器人一体化设计优化
A Co-Design Framework for Energy-Aware Monoped Jumping with Detailed Actuator Modeling
- 三阶段联合优化框架，融合真实电机模型与齿轮箱参数
- 能耗降低50%，跳跃高度达0.8米，优于基线设计
- 自动生成可直接制造的参数化3D模型，减少人工迭代
单足机器人的跳跃高度与能耗受机械设计和控制策略共同影响。现有协同设计框架通常只优化最大跳跃高度或最低能耗，忽略二者权衡；且常省略齿轮箱参数优化，使用简化的电机质量模型，导致设计方案难以实际复现。本文提出一种新型三阶段协同设计优化框架，联合最大化跳跃高度并最小化机械能耗。该方法显式引入真实电机质量模型，统一优化机械结构（含齿轮箱）与控制参数。所得设计结果可自动生成功能性参数化CAD模型，便于直接制造，显著减少人工设计迭代。实验表明，相比基线设计，机械能耗降低50%，跳跃高度达0.8米。视频演示见 http://y2u.be/XW8IFRCcPgM。
原文摘要 · Abstract (English)
A monoped's jump height and energy consumption depend on both, its mechanical design and control strategy. Existing co-design frameworks typically optimize for either maximum height or minimum energy, neglecting their trade-off. They also often omit gearbox parameter optimization and use oversimplified actuator mass models, producing designs difficult to replicate in practice. In this work, we introduce a novel three-stage co-design optimization framework that jointly maximizes jump height while minimizing mechanical energy consumption of a monoped. The proposed method explicitly incorporates realistic actuator mass models and optimizes mechanical design (including gearbox) and control parameters within a unified framework. The resulting design outputs are then used to automatically generate a parameterized CAD model suitable for direct fabrication, significantly reducing manual design iterations. Our experimental evaluations demonstrate a 50 percent reduction in mechanical energy consumption compared to the baseline design, while achieving a jump height of 0.8m. Video presentation is available at http://y2u.be/XW8IFRCcPgM
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