Project description
The project will focus on the development of a framework for the co-design of biped robotic systems.
When working with a high number of degrees of freedom, as is the case with humanoid robots, the creation of a kinematic and dynamic model is not completely resolved, especially when the mechanisms include hybrid kinematic chains with parallel and serial trees.
The objective is to develop a set of tools for the comparative evaluation of different system architectures in terms of energy efficiency and mass distribution. Parameterization of dynamic models could allow the use of optimization methods to support design and iteration activities on different designs prior to physical prototype manufacturing.
Some of the tasks to be carried out in this project are:
-Model identification: Model-based controllers depend on the accuracy of the dynamic model to represent the actual robotic system, and it is important to identify and validate the model to minimize model inconsistencies.
-How to automate the generation of models to support different simulators: The study of different model formats and how to simulate complex robotic systems in state-of-the-art simulation environments will also be part of the project.
-Evaluation of simulators in real time in terms of dynamic simulation and accuracy of the contact model.
