The current dominant paradigm for robotic manipulation involves two separate stages:
manipulator design and control. Because the robot's morphology and how it can be …

The computational design of soft underwater swimmers is challenging because of the high
degrees of freedom in soft-body modeling. In this paper, we present a differentiable pipeline …

Robots are notoriously difficult to design because of complex interdependencies between
their physical structure, sensory and motor layouts, and behavior. Despite this, almost every …

The physical design of a robot and the policy that controls its motion are inherently coupled,
and should be determined according to the task and environment. In an increasing number …

Soft robots have continuum solid bodies that can deform in an infinite number of ways.
Controlling soft robots is very challenging as there are no closed form solutions. We present …

This work provides a complete framework for the simulation, co-optimization, and sim-to-real
transfer of the design and control of soft legged robots. The compliance of soft robots …

We present methods for co-designing rigid robots over control and morphology (including
discrete topology) over multiple objectives. Previous work has addressed problems in single …

We present ReLU-QP, a GPU-accelerated solver for quadratic programs (QPs) that is
capable of solving high-dimensional control problems at real-time rates. ReLU-QP is derived …

Versatility is one of the main factors driving the adoption of robots on the assembly line and
in other applications. Compared to fixed-automation solutions, a single industrial robot can …

This paper presents a concurrent optimization approach for the design and motion of a
quadruped in order to achieve energy-efficient cyclic behaviors. Computational techniques …