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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2405.05096 |
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| _version_ | 1866911870708875264 |
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| author | Madabushi, Varun Popek, Katie M. Knuth, Craig Mullins, Galen Bittner, Brian A. |
| author_facet | Madabushi, Varun Popek, Katie M. Knuth, Craig Mullins, Galen Bittner, Brian A. |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_05096 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Rapid Co-design of Task-Specialized Whegged Robots for Ad-Hoc Needs Madabushi, Varun Popek, Katie M. Knuth, Craig Mullins, Galen Bittner, Brian A. Robotics 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. |
| title | Rapid Co-design of Task-Specialized Whegged Robots for Ad-Hoc Needs |
| topic | Robotics |
| url | https://arxiv.org/abs/2405.05096 |