A Versatile Co-Design Approach For Dynamic Legged Robots
Traiko Dinev,Carlos Mastalli,Vladimir Ivan,Steve Tonneau,Sethu Vijayakumar,Traiko Dinev,Carlos Mastalli,Vladimir Ivan,Steve Tonneau,Sethu Vijayakumar
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel optimization approach that exploits the derivatives of the motion planning sub-problem (i.e., the lower level). These motion-planning derivatives allow us to incorpo...
