Co-Designing Manipulation Systems Using Task-Relevant Constraints
Apoorv Vaish,Oliver Brock,Apoorv Vaish,Oliver Brock
A robotic system’s hardware and control policy must be co-optimized to ensure they complement each other to interact robustly with the environment. However, this combined search is extremely high-dimensional and intractable without a suitable underlying representation. This paper uses environmental constraints to structure the co-design space for manipulation. We show that task-relevant constraint...
