Co-optimizing Physical Reconfiguration Parameters and Controllers for an Origami-inspired Reconfigurable Manipulator

Reconfigurable robots that can change their physical configuration post-fabrication have demonstrate their potential in adapting to different environments or tasks. However, it is challenging to determine how to optimally adjust reconfigurable parameters for a given task, especially when the controller depends on the robot's configuration. In this paper, we address this problem using a tendon-driven reconfigurable manipulator composed of multiple serially connected origami-inspired modules as an example. Under tendon actuation, these modules can achieve different shapes and motions, governed by joint stiffnesses (reconfiguration parameters) and the tendon displacements (control inputs). We leverage recent advances in co-optimization of design and control for robotic system to treat reconfiguration parameters as design variables and optimize them using reinforcement learning techniques. We first establish a forward model based on the minimum potential energy method to predict the shape of the manipulator under tendon actuations. Using the forward model as the environment dynamics, we then co-optimize the control policy (on the tendon displacements) and joint stiffnesses of the modules for goal reaching tasks while ensuring collision avoidance. Through co-optimization, we obtain optimized joint stiffness and the corresponding optimal control policy to enable the manipulator to accomplish the task that would be infeasible with fixed reconfiguration parameters (i.e., fixed joint stiffness). We envision the co-optimization framework can be extended to other reconfigurable robotic systems, enabling them to optimally adapt their configuration and behavior for diverse tasks and environments.