Preprint
Sep 2026
Task-Oriented Co-Design and Optimization of Geared Actuators for Robotic Applications
A systematic optimization framework for task-oriented co-design of actuator hardware and control is presented, combining discrete enumeration with continuous search over dimensions and real-valued indices and demonstrates a systematic route from task requirements to actuator design and control.
Xuan-Yu Huang, Jia Dong, Hang Zhao
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