Template-Based Optimal Robot Design with Application to Passive-Dynamic Underactuated Flapping
Avik De,Robert J. Wood,Avik De,Robert J. Wood
We present a novel paradigm and algorithm for optimal design of underactuated robot platforms in highly-constrained nonconvex parameter spaces. We apply this algorithm to two variants of the mature RoboBee platform, numerically demonstrating predicted performance improvements of over 10% in some cases by algorithmically reasoning about variable effective-mechanical-advantage (EMA) transmissions, h...
