SOURCE-LINKED INTELLIGENCE

GLAMDRING: Gait Learning And Morphology co-Design via Reinforcement LearnING of CPGs

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

Robots are moving out of the structured factory floor and into unstructured environments such as disaster sites, planetary surfaces, and agricultural fields, for which the right robot often does not yet exist. We present GLAMDRING, a framework that synthesizes the optimal robot for a locomotion task and, jointly, learns the controller that drives it. For the given specifications of forward-velocity bounds, a per-actuator power budget, an actuator library, and a payload requirement, GLAMDRING returns a matched quadruped morphology (link geometry and per-joint actuators) and a Hopf-oscillator Ce

Read original source ↗ Open in workspace

recordType

paper

region

Global