Head of Artificial and Mechanical Intelligence @IIT | Visiting at University of Manchester | MIT Technology Review, Innovator of the year Under 35 Europe | GPAI, Italian Delegate | In 40under40 list by Future Italy
Do you need an optimal mechanical-design-and-control for #humanoidrobots mitigating FEM and control requirements? Join us tomorrow (Friday) at IROS 2024, or take a look at the paper below applied to the flying #iRonCub. In particular, codesign optimization strategies usually rely on simplified robot models extracted from CAD. These models might overlook important details essential for prototyping the optimized mechanical design. They may not account for mechanical stresses exerted on the optimized geometries and the complexity of assembly-level design. We introduce a co-design framework aimed at improving both the control performance and mechanical design of our robot. The geometric characteristics of these links are parameterized and optimized using a multi-objective evolutionary algorithm to achieve optimal control performance. Additionally, an automated Finite Element Method (FEM) analysis is integrated into the framework to filter solutions not satisfying the required structural safety margin. So, join us at the Humanoid and Bipedal Locomotion session presenting the paper: From CAD to URDF: Co-Design of a Jet-Powered Humanoid Robot Including CAD Geometry Kudos to Vpunith Reddy, which too care of all the implementation and testing, and thanks to Gabriele Nava, Fabio Bergonti, Giuseppe L'Erario, Antonello Paolino for their invaluable contributions to make this result true. Preprint: https://lnkd.in/dMdajnMg Video: https://lnkd.in/dVduPwxT Code: https://lnkd.in/d2ywcVEC Artificial and Mechanical Intelligence Istituto Italiano di Tecnologia