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cs.RO2026
A Co-Design Framework for High-Performance Jumping of a Five-Bar Monoped with Actuator Optimization
Aastha Mishra, Aman Singh, Shishir Kolathaya
The performance of legged robots depends strongly on both mechanical design and control, motivating co-design approaches that jointly optimize these parameters. However, most exist…
cs.RO2025
A Co-Design Framework for Energy-Aware Monoped Jumping with Detailed Actuator Modeling
Aman Singh, Aastha Mishra, Deepak Kapa +2
A monoped's jump height and energy consumption depend on both, its mechanical design and control strategy. Existing co-design frameworks typically optimize for either maximum heigh…