相关论文: A systems design approach for the co-design of a h…

Humanoid robots, as general-purpose physical agents, must integrate both intelligent control and adaptive morphology to operate effectively in diverse real-world environments. While recent research has focused primarily on optimizing…

Rapid robotic system development sets a demand for multi-disciplinary methods and tools to explore and compare design alternatives. In this paper, we present collaborative modeling that combines discrete-event models of controller software…

Recent advances in 3D printing and manufacturing of miniaturized robotic hardware and computing are paving the way to build inexpensive and disposable robots. This will have a large impact on several applications including scientific…

Ergonomics is a key factor to consider when designing control architectures for effective physical collaborations between humans and humanoid robots. In contrast, ergonomic indexes are often overlooked in the robot design phase, which leads…

Designing robot morphologies and kinematics has traditionally relied on human intuition, with little systematic foundation. Motion-design co-optimization offers a promising path toward automation, but two major challenges remain: (i) the…

Co-designing a robot's morphology and control can ensure synergistic interactions between them, prevalent in biological organisms. However, co-design is a high-dimensional search problem. To make this search tractable, we need a systematic…

Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been devoted to isolated improvements in…

We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel…

Replicating and surpassing the autonomy of natural organisms remains a long-standing goal in robotics. Yet most robotic systems have their structure, materials, and control designed separately, in sharp contrast to the co-evolution in…

A robot needs multiple interaction modes to robustly collaborate with a human in complicated industrial tasks. We develop a Coexistence-and-Cooperation (CoCo) human-robot collaboration system. Coexistence mode enables the robot to work with…

Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots. Towards this goal, we present an interactive computational design system that enables users to design…

Soft robots promise inherent safety via their material compliance for seamless interactions with humans or delicate environments. Yet, their development is challenging because it requires integrating materials, geometry, actuation, and…

Co-design is essential for grounding embodied artificial intelligence (AI) systems in real-world contexts, especially high-stakes domains such as healthcare. While prior work has explored multidisciplinary collaboration, iterative…

Co-design optimization strategies usually rely on simplified robot models extracted from CAD. While these models are useful for optimizing geometrical and inertial parameters for robot control, they might overlook important details…

Multi-level evolution is a bottom-up robotic design paradigm which decomposes the design problem into layered sub-tasks that involve concurrent search for appropriate materials, component geometry and overall morphology. Each of the three…

In robotics, structural design and behavior optimization have long been considered separate processes, resulting in the development of systems with limited capabilities. Recently, co-design methods have gained popularity, where bi-level…

Co-designing autonomous robotic agents involves simultaneously optimizing the controller and physical design of the agent. Its inherent bi-level optimization formulation necessitates an outer loop design optimization driven by an inner loop…

Robotics and automation have the potential to significantly improve quality of life for people with assistive needs and their carers. Adoption of such technologies at this point in time is far from widespread. This paper presents a novel…

Robotic performance emerges from the coupling of body and controller, yet it remains unclear when morphology-control co-design is necessary. We present a unified framework that embeds morphology and control parameters within a single neural…

This paper presents a CAD-driven co-design framework for optimizing jet-powered aerial humanoid robots to execute dynamically constrained trajectories. Starting from the iRonCub-Mk3 model, a Design of Experiments (DoE) approach is used to…