ELECTRONICS DESIGN AND VERIFICATION FOR ROBOTS WITH ACTUATION AND SENSING REQUIREMENTS

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School of Engineering and Applied Science::General Robotics, Automation, Sensing and Perception Laboratory::Lab Papers (GRASP)
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Mechanical Engineering
Electrical Engineering
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Electronics design
Computational tool
Generative design
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2023-08-29
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Author
Huang, Zonghao
Sung, Cynthia
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Abstract

Robot design is a challenging problem involving a balance between the robot’s mechanical design, kinematic structure, and actuation and sensing capabilities. Recentwork in computational robot design has focused on mechanical design while assuming that the given actuators are sufficient for the task. At the same time, existing electronics design tools ignore the physical requirements of the actuators and sensors in the circuit. In this paper, we present the first system that closes the loop between the two, incorporating a robot’s mechanical requirements into its circuit design process. We show that the problem can be solved using an iterative search consisting of two parts. First, a dynamic simulator converts the mechanical design and the given task into concrete actuation and sensing requirements. Second, a circuit generator executes a branch-and-bound search to convert the design requirements into a feasible electronic design. The system iterates through both of these steps, a process that is sometimes required since the electronics components add mass that may affect the robot’s design requirements. We demonstrate this approach on two examples – a manipulator and a quadruped – showing in both cases that the system is able to generate a valid electronics design.

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2023-08-29
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International Design Engineering Technical Conferences and Computers and Information in Engineering Conference IDETC/CIE2023
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ASME
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@inproceedings{chen2023elecgen, title = {ELECTRONICS DESIGN AND VERIFICATION FOR ROBOTS WITH ACTUATION AND SENSING REQUIREMENTS}, author = {Dongsheng Chen and Guanyu Chen and Cynthia Sung}, year = {2023}, date = {2023-08-29}, urldate = {2023-08-29}, booktitle = {ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE)}}
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