Design of 1 DOF Link Leg Mechanisms with the use of a Genetic Algorithm

Abstract

The leg mechanism is a major factor in the performance of legged robots. Among various methods, leg mechanisms using a one-degree-of-freedom link mechanism have the advantage of easy control. However, design of the link mechanisms is demanding work because of inherent nonlinearity of the link mechanisms equation. Despite many methods are proposed in order to overcome this issue, it is difficult to apply these methods to design link leg mechanisms because existing methods use desired trajectory as objective, but trajectory is also design target in link leg mechanisms design. Thus, we propose a new design method that do not need desired trajectory as input and uses genetic algorithm. In this paper, we design link leg mechanisms through single objective optimization as preliminary experiment before design through multi objective optimization.