Article

Bi-level Co-design Framework for Lunar Monoped: 2D Jumping and Landing Control

For a planar monoped robot under lunar gravity (1.625 m/s²), this study proposes a bi-level co-design framework: a differential evolution outer loop searches link lengths, and each candidate is evaluated for vertical jump performance by either a QP task-space controller (QP-TSC) or direct-collocation trajectory optimization.

Part of the event: Research on a Bi-level Co-design Framework for Lunar One-Legged Robots

This page provides a summary and source link only.