Incorporating kinodynamic constraints in automated design of simple machines

Robots are inherently limited by constraints on their motor power, battery life, and structural rigidity. Using simple machines and exploiting their mechanical advantage can significantly increase the breadth of a robot's capabilities. In this work, we present an autonomous planner which allows a robot to determine how arbitrary rigid objects in its environment can be utilized in machine designs to overcome physical challenges. First, the designed structure must be sufficient to achieve a task given the input force and torque that can be applied by the robot. Second, the structure must be accessible to the robot given its kinematics and geometry so that it can actually be used to perform the task. The output of our algorithm is the configuration of the design components, the pose of the robot to make contact with the design, and the motor torques needed to actuate it. We demonstrate results with the robot Golem Krang, using levers as simple machines, to overturn 100 kg load and to push 240 kg wheeled obstacle.