A two-stage optimization framework for a five-bar monoped achieves 42% greater jump distance and 15.8% lower mechanical energy consumption in simulation by co-optimizing design, actuators, and control.
Design of kaist hound, a quadruped robot platform for fast and efficient locomotion with mixed- integer nonlinear optimization of a gear train,
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A Co-Design Framework for High-Performance Jumping of a Five-Bar Monoped with Actuator Optimization
A two-stage optimization framework for a five-bar monoped achieves 42% greater jump distance and 15.8% lower mechanical energy consumption in simulation by co-optimizing design, actuators, and control.