2026
Contact-Aware Morphology Optimization via Physically Consistent Differentiable Simulation
Filippo Luca Ferretti, Diego Ferigo, Alessandro Croci, Carlotta Sartore, Omar G. Younis, Silvio Traversaro +1
RA-L 2026
Optimizing robot morphology and behavior remains an open challenge, primarily because hardware parameters affect system and contact dynamics, and naive parametrization can yield physically inconsistent designs and unreliable gradients. We propose a simulation-based co-design approach for gradient-ba