نسخة أولية وصول مفتوح
Task-Oriented Co-Design and Optimization of Geared Actuators for Robotic Applications
Different tasks performed by legged robots impose distinct torque and speed requirements on actuators. Existing robotic actuators are generally optimized at the component level for metrics such as torque or power density, without explicit task guidance. System-level optimization across components such as motors, gearbo …