COSMIC co-optimizes robot structure, materials, and control simultaneously via differentiable simulation and constrained gradients, yielding locomotion strategies that outperform sequential baselines.
Interactive robogami: An end-to-end system for design of robots with ground locomotion.The International Journal of Robotics Research, 36(10):1131–1147, September 2017
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COSMIC: Concurrent Optimization of Structure, Material, and Integrated Control for robotic systems
COSMIC co-optimizes robot structure, materials, and control simultaneously via differentiable simulation and constrained gradients, yielding locomotion strategies that outperform sequential baselines.