3 papers
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…
cs.RO2025
COMPAct: Computational Optimization and Automated Modular design of Planetary Actuators
Aman Singh, Deepak Kapa, Suryank Joshi +1
The optimal design of robotic actuators is a critical area of research, yet limited attention has been given to optimizing gearbox parameters and automating actuator CAD. This pape…
cs.RO2025
Comparison between External and Internal Single Stage Planetary gearbox actuators for legged robots
Aman Singh, Deepak Kapa, Prasham Chedda +1
Legged robots, such as quadrupeds and humanoids, require high-performance actuators for efficient locomotion. Quasi-Direct-Drive (QDD) actuators with single-stage planetary gearbox…