Control-Aware Design Optimization for Bio-Inspired Quadruped Robots

We present a control-aware design optimization method for quadrupedal robots. In particular, we show that it is possible to analytically differentiate typical, inverse dynamics-based whole body controllers with respect to design parameters, and that gradient-based methods can be used to efficiently improve an initial morphological design according to well-established metrics. We apply our design optimization method to various types of quadrupedal robots, including designs that feature closed kinematic chains. The methodology we present enables a principled comparison of different types of optimized legged robot designs. Our experiments, for example, suggest that mechanically-coupled three-link leg designs present notable advantages in terms of performance and efficiency over the common two-link leg designs used in most quadrupedal robots today.