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Task-Oriented Co-Design and Optimization of Geared Actuators for Robotic Applications

arXiv · AI, language, vision and robotics · article · Sep 19, 2026 · UTC

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, gearboxes, and sensors is challenging because of the high computational cost and coupling among mechanical, electrical, and electromagnetic behaviors. Consequently, improvements in individual components may not translate into better robot performance in a specific task. To this end, we

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