Rapid Co-design of Task-Specialized Whegged Robots for Ad-Hoc Needs
<|reference_start|>Rapid Co-design of Task-Specialized Whegged Robots for Ad-Hoc Needs: 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.<|reference_end|>
@article{madabushi2024rapid,
    title={Rapid Co-design of Task-Specialized Whegged Robots for Ad-Hoc Needs},
    author={Varun Madabushi, Katie M. Popek, Craig Knuth, Galen Mullins, Brian A.
  Bittner},
    journal={arXiv preprint arXiv:2405.05096},
    year={2024},
    archivePrefix={arXiv},
    eprint={2405.05096},
    primaryClass={cs.RO}
}