Skippy: Mechanism and Behaviour Co-design of an athletic monopod

Antonios E. Gkikakis (Istituto Italiano di Tecnologia)

This paper presents a multi-objective parameter optimization study with the aim of finding a set of design parameters for a highly athletic monopedal robot, called Skippy, such that the resulting design meets or exceeds every item in a list of behavioural performance requirements. The result is a Pareto front of possible robot hardware designs, plus a set of command signals that demonstrate how each design meets each one of the performance requirements. The study is limited to a planar robot moving in a vertical plane, but is otherwise highly detailed and realistic.