Design of Optimal Robotic Actuators
Computational design of planetary-gearbox actuators for legged robots
The actuator sets the ceiling on what a legged robot can do. Gear ratio, stage topology, and motor choice together fix torque density, reflected inertia, and thermal headroom — yet these are typically picked by hand from catalogue parts. This theme treats the actuator as a design variable to be optimized numerically, and builds the tooling to fabricate and test the result.
Representative Projects
COMPAct: Computational Optimization and Automated Modular Design
TODO: ~45 words. COMPAct turns actuator design into a numerical optimization over gear ratio, stage topology, and motor selection, then emits the CAD automatically. Say what it optimizes for and what the automation buys you over hand design.
External vs. Internal Single-Stage Planetary Gearboxes
TODO: ~45 words. A like-for-like comparison of ESSPG and ISSPG actuator topologies at matched specifications. State the trade-off you found — torque density, backdrivability, efficiency, packaging — and which one a legged-robot designer should reach for.
DTEA: Dual-Topology Elastic Actuator
TODO: ~45 words. An actuator that switches between series and parallel compliance in real time. Explain why a single fixed compliance topology is a compromise, and what switching between them unlocks for impact absorption and efficient jumping.