{"id":"https://openalex.org/W4383109244","doi":"https://doi.org/10.1109/icra48891.2023.10161134","title":"Robust co-design of robots via cascaded optimisation","display_name":"Robust co-design of robots via cascaded optimisation","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109244","doi":"https://doi.org/10.1109/icra48891.2023.10161134"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161134","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161134","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085671657","display_name":"Akhil Sathuluri","orcid":"https://orcid.org/0000-0002-6746-9909"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Akhil Sathuluri","raw_affiliation_strings":["TUM School of Engineering and Design, Technical University of Munich (TUM),Robot Systems group, Laboratory for Product Development and Lightweight Design,Germany","Robot Systems group, Laboratory for Product Development and Lightweight Design, TUM School of Engineering and Design, Technical University of Munich (TUM), Germany"],"affiliations":[{"raw_affiliation_string":"TUM School of Engineering and Design, Technical University of Munich (TUM),Robot Systems group, Laboratory for Product Development and Lightweight Design,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Robot Systems group, Laboratory for Product Development and Lightweight Design, TUM School of Engineering and Design, Technical University of Munich (TUM), Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057606006","display_name":"Anand Vazhapilli Sureshbabu","orcid":"https://orcid.org/0000-0001-8143-8714"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Anand Vazhapilli Sureshbabu","raw_affiliation_strings":["TUM School of Engineering and Design, Technical University of Munich (TUM),Robot Systems group, Laboratory for Product Development and Lightweight Design,Germany","Robot Systems group, Laboratory for Product Development and Lightweight Design, TUM School of Engineering and Design, Technical University of Munich (TUM), Germany"],"affiliations":[{"raw_affiliation_string":"TUM School of Engineering and Design, Technical University of Munich (TUM),Robot Systems group, Laboratory for Product Development and Lightweight Design,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Robot Systems group, Laboratory for Product Development and Lightweight Design, TUM School of Engineering and Design, Technical University of Munich (TUM), Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043707656","display_name":"Markus Zimmermann","orcid":"https://orcid.org/0000-0002-6666-3291"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Markus Zimmermann","raw_affiliation_strings":["TUM School of Engineering and Design, Technical University of Munich (TUM),Robot Systems group, Laboratory for Product Development and Lightweight Design,Germany","Robot Systems group, Laboratory for Product Development and Lightweight Design, TUM School of Engineering and Design, Technical University of Munich (TUM), Germany"],"affiliations":[{"raw_affiliation_string":"TUM School of Engineering and Design, Technical University of Munich (TUM),Robot Systems group, Laboratory for Product Development and Lightweight Design,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Robot Systems group, Laboratory for Product Development and Lightweight Design, TUM School of Engineering and Design, Technical University of Munich (TUM), Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5085671657"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":3.0141,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.92688799,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"11280","last_page":"11286"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7817850112915039},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7071152329444885},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6650822162628174},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6598344445228577},{"id":"https://openalex.org/keywords/performance-metric","display_name":"Performance metric","score":0.5200133323669434},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.4922882616519928},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4342797100543976},{"id":"https://openalex.org/keywords/design-methods","display_name":"Design methods","score":0.4141950011253357},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.41156256198883057},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38843995332717896},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21314913034439087},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21307849884033203},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17292481660842896},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12230989336967468}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7817850112915039},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7071152329444885},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6650822162628174},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6598344445228577},{"id":"https://openalex.org/C2780898871","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Performance metric","level":2,"score":0.5200133323669434},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.4922882616519928},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4342797100543976},{"id":"https://openalex.org/C138852830","wikidata":"https://www.wikidata.org/wiki/Q2292993","display_name":"Design methods","level":2,"score":0.4141950011253357},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.41156256198883057},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38843995332717896},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21314913034439087},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21307849884033203},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17292481660842896},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12230989336967468},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48891.2023.10161134","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161134","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1719830","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1719830","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1989508142","https://openalex.org/W2135611412","https://openalex.org/W2175402941","https://openalex.org/W2510118794","https://openalex.org/W2527988986","https://openalex.org/W2601284814","https://openalex.org/W2742812715","https://openalex.org/W2743973952","https://openalex.org/W2773304397","https://openalex.org/W2775819221","https://openalex.org/W2790575194","https://openalex.org/W2807229064","https://openalex.org/W2811386030","https://openalex.org/W2893928678","https://openalex.org/W2962696179","https://openalex.org/W2966960409","https://openalex.org/W2989431568","https://openalex.org/W3007945767","https://openalex.org/W3095490979","https://openalex.org/W3098621578","https://openalex.org/W3149466088","https://openalex.org/W3159825919","https://openalex.org/W3176235950","https://openalex.org/W3200670713","https://openalex.org/W3206965411","https://openalex.org/W3209089215","https://openalex.org/W4200058106","https://openalex.org/W4312624212","https://openalex.org/W6781780510"],"related_works":["https://openalex.org/W2140543225","https://openalex.org/W4361804730","https://openalex.org/W1535650191","https://openalex.org/W2142113611","https://openalex.org/W2334467465","https://openalex.org/W2018387840","https://openalex.org/W2087870008","https://openalex.org/W2162534555","https://openalex.org/W2752178021","https://openalex.org/W2045629210"],"abstract_inverted_index":{"Optimising":[0],"mechanical,":[1],"control":[2],"and":[3,15,64,90,114,131],"actuator":[4],"design":[5,87],"variables":[6],"together":[7],"as":[8],"a":[9,28,47,55,72,95],"co-design":[10],"problem":[11],"enables":[12,91],"identifying":[13],"novel":[14],"better-performing":[16],"robot":[17,130],"architectures.":[18],"Typically,":[19],"solving":[20],"such":[21],"problems":[22],"using":[23],"conventional":[24],"optimisation":[25,58],"methods":[26],"yields":[27],"single,":[29],"point-based":[30],"solution.":[31],"Deviating":[32],"from":[33],"the":[34,66,81,92,109,122],"computed":[35],"optima":[36],"may":[37],"be":[38,142],"necessary":[39],"to":[40,60,106,127,139],"ensure":[41],"physical":[42],"feasibility,":[43],"typically":[44],"associated":[45],"with":[46,134],"performance":[48,69,111],"loss.":[49],"In":[50,99],"this":[51],"work,":[52],"we":[53,102],"present":[54],"two-step":[56],"cascaded":[57],"approach":[59],"identify":[61],"non-intuitive":[62],"designs":[63,133],"recover":[65],"loss":[67],"in":[68,80,125],"by":[70],"constructing":[71],"solution":[73,76],"space.":[74],"The":[75],"space":[77],"provides":[78],"robustness":[79],"form":[82],"of":[83,86,94,108,118,137],"permissible":[84],"ranges":[85],"variable":[88],"values":[89],"selection":[93],"physically":[96],"feasible":[97],"design.":[98],"our":[100],"study,":[101],"observe":[103],"(1)":[104],"up":[105,138],"20%":[107],"lost":[110],"is":[112],"recovered":[113],"(2)":[115],"an":[116,128],"improvement":[117],"30":[119],"%":[120],"on":[121],"task":[123],"metric":[124],"comparison":[126],"existing":[129],"(3)":[132],"cost":[135],"savings":[136],"10%":[140],"can":[141],"identified.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-01T08:55:55.761014","created_date":"2025-10-10T00:00:00"}
