Search Near… Dates and Country All Countries Australia Austria Canada China Finland France Germany Hungary Italy Japan Norway Romania Singapore South Korea Spain Switzerland United Arab Emirates United Kingdom… Read more
Looking for publications? You might want to consider searching on the EPFL Infoscience site which provides advanced publication search capabilities.
This paper introduces a method to simultaneously optimize design and control parameters for legged robots to improve the performance of locomotion based tasks. The morphology of a quadrupedal robot was optimized for a trotting and bounding gait to achieve a certain speed while tuning the control parameters of a robust locomotion controller at the same time. The results of the optimization show that a change of the structure of the robot can help increase its admissable top speed while using the same actuation units.