Computer Science > Robotics
[Submitted on 8 May 2024]
Title:Rapid Co-design of Task-Specialized Whegged Robots for Ad-Hoc Needs
View PDF HTML (experimental)Abstract:In this work, we investigate the use of co-design methods to iterate upon robot designs in the field, performing time sensitive, ad-hoc tasks. Our method optimizes the morphology and wheg trajectory for a MiniRHex robot, producing 3D printable structures and leg trajectory parameters. Tested in four terrains, we show that robots optimized in simulation exhibit strong sim-to-real transfer and are nearly twice as efficient as the nominal platform when tested in hardware.
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