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Research on a Bi-level Co-design Framework for Lunar One-Legged Robots
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Sanjay Ramkumar and Suraj Kumar published research proposing a bi-level co-design framework for a planar one-legged robot under lunar gravity (1.625 m/s²): the outer level uses differential evolution to search link lengths, and each candidate design is then evaluated for vertical jumping performance via either a quadratic-programming-based task-space controller (QP-TSC) or direct collocation-based trajectory optimization. The study demonstrates the framework on a baseline morphology in which both links are 0.3 m. Its goal is to determine structural parameters jointly with jumping and landing control schemes, rather than fixing the structure first and then designing the control.
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- 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.
arXiv cs.RO ·