Interactive Co-Design of Form and Function for Legged Robots using the Adjoint Method

Understand

Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots.

• Towards this goal, we present an interactive computational design system that enables users to design legged robots with desired morphologies and behaviors by specifying higher level descriptions.
• The core of our method is a design optimization technique that reasons about the structure, and motion of a robot in coupled manner in order to achieve user-specified robot behavior, and performance.
• We are inspired by the recent works that also aim to jointly optimize robot's form and function.