2022
DOI: 10.48550/arxiv.2207.11773
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N-LIMB: Neural Limb Optimization for Efficient Morphological Design

Abstract: A robot's ability to complete a task is heavily dependent on its physical design. However, identifying an optimal physical design and its corresponding control policy is inherently challenging. The freedom to choose the number of links, their type, and how they are connected results in a combinatorial design space, and the evaluation of any design in that space requires deriving its optimal controller. In this work, we present N-LIMB, an efficient approach to optimizing the design and control of a robot over l… Show more

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