Cascaded constrained optimization for cheetah-inspired galloping robot leg mechanism

Artem A. Egorov*, Ivan I. Borisov, Sergey A. Kolyubin, Stefano Stramigioli

*Corresponding author for this work

Research output: Contribution to journalConference articleAcademicpeer-review

1 Citation (Scopus)
133 Downloads (Pure)


The paper describes one of the key steps in creating a bio-inspired galloping robot, namely parametric optimization of a multi-link leg mechanism. We introduce the cascaded constrained optimization procedure for finding optimal values for geometric parameters of a femur, knee, and foot segments for given design constraints and various gait specifications. The presented approach is computationally efficient and guarantees convergence to the unique solution. Steps on free parameters, constraints, and cost function selection are discussed. The efficiency of the proposed procedure is illustrated via a series of simulations. The proposed approach can also be implemented for the design of wearable robots like upper- and lower-limb exoskeletons and rehabilitation systems that should follow sometimes sophisticated human-like trajectories.

Original languageEnglish
Pages (from-to)9232-9237
Number of pages6
Issue number2
Publication statusPublished - 2020
Event21st IFAC World Congress 2020 - Virtual Event, Berlin, Germany
Duration: 12 Jul 202017 Jul 2020
Conference number: 21


  • Legged robots
  • Mobile robots
  • Parametric optimization
  • Robot design


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