3 papers
cs.RO2026
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
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
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…