This presentation introduces a co-design methodology that harmonizes trajectory optimization with robot design, focusing on minimizing power consumption. By integrating a detailed motor and actuator model—accounting for factors like friction, resistive losses, and realistic commercial parameters—we achieve significant efficiency gains.
Utilizing tools such as Pinocchio for rigid body dynamics and CasADi for nonlinear optimization, we've validated this approach on both 3-DoF and 6-DoF robotic arms. The results highlight notable improvements in efficiency, demonstrating the effectiveness of our co-design strategy.