We present improvements on a proposed co-design methodology using trajectory optimisation for robot actuation design.
The implementation of gearbox mass and friction effects is shown to greatly affect the solution of the optimisation.
Furthermore, we propose an approach for selecting off-the-shelf motors and gearboxes based on co-design outcomes, which has proven to be an important step. To validate the co-design methodology and the models used, we demonstrate a physical robot that is made to run the optimised trajectories.