COSMIC co-optimizes robot structure, materials, and control simultaneously via differentiable simulation and constrained gradients, yielding locomotion strategies that outperform sequential baselines.
Design and control of compliant tensegrity robots through simulation and hardware validation
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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.