3 accepted papers
Legged robots demand actuator parameter sets that reconcile conflicting requirements such as high torque density, low impedance, responsiveness, and energy efficiency. This paper presents a taskaware codesign framework that jointly optimizes actuator parameters and motion for humanoids. An outer loo
The main advantages of legged robots over wheeled ones are their abilities to traverse on uneven terrain due to the use of intermittent contacts and an ability to shift the center of mass relative to the contact location. A robot's leg design can be implemented by using an open-chain mechanism actua…
Designing robots is a multiphase process aimed at solving a multi-criteria optimization problem to find the best possible detailed design. Generative design (GD) aims to accelerate the design process compared to manual design, since GD allows exploring and exploiting the vast design space more effic…