Parallel-elastic joints can improve the efficiency and strength of robots by assisting the
actuators with additional torques. For these benefits to be realized, a spring needs to be …

The process of robot design is a complex task and the majority of design decisions are still
based on human intuition or tedious manual tuning. A more informed way of facing this task …

This paper introduces a design method for an efficient and agile quadruped robot. A mixed-
integer optimization formulation including the number of gear teeth is derived to obtain the …

Legged robots are constantly evolving, and energy efficiency is a major driving factor in their
design. However, combining mechanism efficiency and trajectory planning can be …

This paper presents a concurrent optimization approach for the design and motion of a
quadruped in order to achieve energy-efficient cyclic behaviors. Computational techniques …

It is difficult for a humanoid leg driven by two groups of antagonistic pneumatic muscles
(PMs) to achieve a flexible humanoid gait, and its inherent strong coupling nonlinear …

This article presents the analysis and optimization of a compliant robotic leg based on
Klann's linkage. This leg is specifically designed to efficiently distribute its power …

This paper considers the problem of designing legged robots for traversing uneven terrain,
wherein terrain characteristics represent uncertainty for the design process. When this …

Reinforcement Learning (RL) is fast gaining traction as a major branch of machine learning,
its applications have expanded well beyond its typical usage in games. Several subfields of …

We present a control-aware design optimization method for quadrupedal robots. In
particular, we show that it is possible to analytically differentiate typical, inverse dynamics …