A string-based representation and crossover operator for evolutionary design of dynamical mechanisms

Robots would perform better when their mechanical structure is specifically designed for their designated task, for instance by adding spring mechanisms. However, designing such mechanisms, which match the dynamics of the robot with the task, is hard and time consuming. To assist designers, a platform that automatically designs dynamical...

Unparameterized optimization of the spring characteristic of parallel elastic actuators

In electrically actuated robots most energy losses are due to the heating of the actuators. This energy loss can be greatly reduced with parallel elastic actuators, by optimizing the elastic element such that it delivers most of the required torques. Previously used optimization methods relied on parameterizing the spring characteristic,...