arXiv Open Access 2024

Rapid Co-design of Task-Specialized Whegged Robots for Ad-Hoc Needs

Varun Madabushi Katie M. Popek Craig Knuth Galen Mullins Brian A. Bittner

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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.

Topik & Kata Kunci

cs.RO

Penulis (5)

Varun Madabushi

Katie M. Popek

Craig Knuth

Galen Mullins

Brian A. Bittner

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APA MLA BibTeX

Madabushi, V., Popek, K.M., Knuth, C., Mullins, G., Bittner, B.A. (2024). Rapid Co-design of Task-Specialized Whegged Robots for Ad-Hoc Needs. https://arxiv.org/abs/2405.05096

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Tahun Terbit: 2024
Bahasa: en
Sumber Database: arXiv
Akses: Open Access ✓