A Co-Design Framework for Energy-Aware Monoped Jumping with Detailed Actuator Modeling
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arXiv
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| Auteurs principaux: | , , , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866918155856642048 |
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| author | Singh, Aman Mishra, Aastha Kapa, Deepak Joshi, Suryank Kolathaya, Shishir |
| author_facet | Singh, Aman Mishra, Aastha Kapa, Deepak Joshi, Suryank Kolathaya, Shishir |
| contents | A monoped's jump height and energy consumption depend on both, its mechanical design and control strategy. Existing co-design frameworks typically optimize for either maximum height or minimum energy, neglecting their trade-off. They also often omit gearbox parameter optimization and use oversimplified actuator mass models, producing designs difficult to replicate in practice. In this work, we introduce a novel three-stage co-design optimization framework that jointly maximizes jump height while minimizing mechanical energy consumption of a monoped. The proposed method explicitly incorporates realistic actuator mass models and optimizes mechanical design (including gearbox) and control parameters within a unified framework. The resulting design outputs are then used to automatically generate a parameterized CAD model suitable for direct fabrication, significantly reducing manual design iterations. Our experimental evaluations demonstrate a 50 percent reduction in mechanical energy consumption compared to the baseline design, while achieving a jump height of 0.8m. Video presentation is available at http://y2u.be/XW8IFRCcPgM |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_05923 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A Co-Design Framework for Energy-Aware Monoped Jumping with Detailed Actuator Modeling Singh, Aman Mishra, Aastha Kapa, Deepak Joshi, Suryank Kolathaya, Shishir Robotics A monoped's jump height and energy consumption depend on both, its mechanical design and control strategy. Existing co-design frameworks typically optimize for either maximum height or minimum energy, neglecting their trade-off. They also often omit gearbox parameter optimization and use oversimplified actuator mass models, producing designs difficult to replicate in practice. In this work, we introduce a novel three-stage co-design optimization framework that jointly maximizes jump height while minimizing mechanical energy consumption of a monoped. The proposed method explicitly incorporates realistic actuator mass models and optimizes mechanical design (including gearbox) and control parameters within a unified framework. The resulting design outputs are then used to automatically generate a parameterized CAD model suitable for direct fabrication, significantly reducing manual design iterations. Our experimental evaluations demonstrate a 50 percent reduction in mechanical energy consumption compared to the baseline design, while achieving a jump height of 0.8m. Video presentation is available at http://y2u.be/XW8IFRCcPgM |
| title | A Co-Design Framework for Energy-Aware Monoped Jumping with Detailed Actuator Modeling |
| topic | Robotics |
| url | https://arxiv.org/abs/2510.05923 |