Control-Aware Design Optimization for Bio-Inspired Quadruped Robots
Flavio De Vincenti,Dongho Kang,Stelian Coros,Flavio De Vincenti,Dongho Kang,Stelian Coros
We present a control-aware design optimization method for quadrupedal robots. In particular, we show that it is possible to analytically differentiate typical, inverse dynamics-based whole body controllers with respect to design parameters, and that gradient-based methods can be used to efficiently improve an initial morphological design according to well-established metrics. We apply our design o...
