Simulation and Controller Generation for Foldable Robots

In this project we are are extending the capabilities of the Robot Compiler RoCo to be able to simulate the generated robot designs in arbitrarily complex scenes generated via Scenic in the simulator Webots , via the pipeline Creative. This pipeline gives a streamlined way of giving performance metrics of the various designs as well as enabling design exploration of controller generation for various robot morphologies and their associated parameters. .

The project explores the design space for novel designs of foldable components and the generation of controllers for robots made from them