Large-Scale ADMM-based Co-Design of Legged Robots
Gabriel Bravo-Palacios,Patrick M. Wensing,Gabriel Bravo-Palacios,Patrick M. Wensing
This paper considers the problem of designing legged robots for traversing uneven terrain, wherein terrain characteristics represent uncertainty for the design process. When this process encompasses a wider variety of terrains, the likelihood of the designed robot falling in the real world should decrease. However, computational scalability limits the number of terrains that can be taken into acco...
