Gait Generation Balancing Joint Load and Mobility for Legged Modular Robots with Easily Detachable Joints
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arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2026
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| _version_ | 1866912943281537024 |
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| author | Chihara, Kennosuke Kiyokawa, Takuya Harada, Kensuke |
| author_facet | Chihara, Kennosuke Kiyokawa, Takuya Harada, Kensuke |
| contents | While modular robots offer versatility, excessive joint torque during locomotion poses a significant risk of mechanical failure, especially for detachable joints. To address this, we propose an optimization framework using the NSGA-III algorithm. Unlike conventional approaches that prioritize mobility alone, our method derives Pareto optimal solutions to minimize joint load while maintaining necessary locomotion speed and stability. Simulations and physical experiments demonstrate that our approach successfully generates gait motions for diverse environments, such as slopes and steps, ensuring structural integrity without compromising overall mobility. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_04757 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Gait Generation Balancing Joint Load and Mobility for Legged Modular Robots with Easily Detachable Joints Chihara, Kennosuke Kiyokawa, Takuya Harada, Kensuke Robotics While modular robots offer versatility, excessive joint torque during locomotion poses a significant risk of mechanical failure, especially for detachable joints. To address this, we propose an optimization framework using the NSGA-III algorithm. Unlike conventional approaches that prioritize mobility alone, our method derives Pareto optimal solutions to minimize joint load while maintaining necessary locomotion speed and stability. Simulations and physical experiments demonstrate that our approach successfully generates gait motions for diverse environments, such as slopes and steps, ensuring structural integrity without compromising overall mobility. |
| title | Gait Generation Balancing Joint Load and Mobility for Legged Modular Robots with Easily Detachable Joints |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.04757 |