Functional co-optimization of articulated robots

ICRA, pp. 5035-5042, 2017.

Cited by: 25|Views29


We present parametric trajectory optimization, a method for simultaneously computing physical parameters, actuation requirements, and robot motions for more efficient robot designs. In this scheme, robot dimensions, masses, and other physical parameters are solved for concurrently with traditional motion planning variables, including dyna...More



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