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

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/liqealiml6s4me9q4h4u9mjyp
- Original: https://arxiv.org/abs/2610.37199

## Summary

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.