Optimal Design of Robotic Character Kinematics Video

We propose a technique
that simultaneously solves for optimal design and control parameters for a
robotic character whose design is parameterized with configurable joints.
At the technical core of our technique is an efficient solution strategy that
uses dynamic programming to solve for optimal state, control, and design
parameters, together with a strategy to remove redundant constraints that
commonly exist in general robot assemblies with kinematic loops.
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