Robodimm: スケーラブルモジュラーロボットの自動アクチュエータ選定のための物理基盤フレームワーク
Robodimm: A Physics-Grounded Framework for Automated Actuator Sizing in Scalable Modular Robots
モジュラーロボットの関節トルク連成とアクチュエータ慣性伝播を考慮し、KKT制約付き逆動力学を用いてモーターとギアボックスの組み合わせを自動選定するソフトウェアフレームワークを提案した。
著者: J. L. Torres, M. Munoz, J. D. Alvarez, J. L. Blanco, A. Gimenez
分類: cs.RO
原文アブストラクト
Selecting an appropriate motor-gearbox combination is a critical design task in robotics because it directly affects cost, mass, and dynamic performance. This process is especially challenging in modular robots with closed kinematic chains, where joint torques are coupled and actuator inertia propagates through the mechanism. We present Robodimm, a software framework for automated actuator sizing in scalable robot architectures. By leveraging Pinocchio for dynamics and Pink for inverse kinematics, Robodimm uses a Karush-Kuhn-Tucker (KKT) formulation for constrained inverse dynamics. The platform supports parametric scaling, interactive trajectory programming through jog modes, and a two-round validation workflow that addresses actuator self-weight effects.