Jonathan Cornee Schaaij

Towards the Best Robot for the Job: Optimising Actuation Design through Multi-Task Co-Design and Component Selection

We propose a multi-task co-design approach to design a robot's actuation (motor sizes and gear ratios) based on trajectory optimisation. Leveraging an actuation model fit on data of series of components, we find the optimal set of design parameters for all joints over a set of representative tasks f…