{"ID":2859347,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.05923","arxiv_id":"2510.05923","title":"A Co-Design Framework for Energy-Aware Monoped Jumping with Detailed Actuator Modeling","abstract":"A monoped's jump height and energy consumption depend on both, its mechanical design and control strategy. Existing co-design frameworks typically optimize for either maximum height or minimum energy, neglecting their trade-off. They also often omit gearbox parameter optimization and use oversimplified actuator mass models, producing designs difficult to replicate in practice. In this work, we introduce a novel three-stage co-design optimization framework that jointly maximizes jump height while minimizing mechanical energy consumption of a monoped. The proposed method explicitly incorporates realistic actuator mass models and optimizes mechanical design (including gearbox) and control parameters within a unified framework. The resulting design outputs are then used to automatically generate a parameterized CAD model suitable for direct fabrication, significantly reducing manual design iterations. Our experimental evaluations demonstrate a 50 percent reduction in mechanical energy consumption compared to the baseline design, while achieving a jump height of 0.8m. Video presentation is available at http://y2u.be/XW8IFRCcPgM","short_abstract":"A monoped's jump height and energy consumption depend on both, its mechanical design and control strategy. Existing co-design frameworks typically optimize for either maximum height or minimum energy, neglecting their trade-off. They also often omit gearbox parameter optimization and use oversimplified actuator mass mo...","url_abs":"https://arxiv.org/abs/2510.05923","url_pdf":"https://arxiv.org/pdf/2510.05923v1","authors":"[\"Aman Singh\",\"Aastha Mishra\",\"Deepak Kapa\",\"Suryank Joshi\",\"Shishir Kolathaya\"]","published":"2025-10-07T13:34:40Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","project_urls":"[\"http://y2u.be/XW8IFRCcPgM\"]","has_code":false}