2026-09-20T12:44:32Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/129458 2025-10-20 col_2142_5131 col_2142_14787 com_2142_5130 com_2142_9630 com_2142_234

application/pdf en text Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms The student, Youngwoo Sim, accepted the attached license on 2025-04-27 at 18:56. The student, Youngwoo Sim, submitted this Dissertation for approval on 2025-04-27 at 19:02. This Dissertation was approved for publication on 2025-04-30 at 09:02. DSpace SAF Submission Ingestion Package generated from Vireo submission #22018 on 2025-10-19 at 18:19:23 Rapid computational design and simulation of highly dynamic legged robots Sim, Youngwoo 2025-04-30 Ramos, Joao Ramos, Joao Yim, Justin Salapaka, Srinivasa Kim, Joohyung Humanoid Design Actuation Design Design Optimization eng The goal of the proposed research is to develop an interactive computational design tool that assists human designers in navigating the high-dimensional design space of robotic actuation systems. Existing design methods and methods face two major challenges: 1) they often suffer from heavy computational demands and slow convergence, and 2) they require a steep learning curve for simulating desired behaviors and validating candidate hardware models. This research aims to accelerate both areas, i.e., reducing design time from 100 hours to 1 hour, to enable interactive design, allowing hardware designers to quickly prototype, visualize and explore new designs. This article proposes a framework comprising three components: behavior synthesis, control-aware design optimization, and simulation-based validation. Three primary academic contributions are anticipated from the development of the proposed framework: it enables 1) a first-principle-based approach to system-level hardware design which used to rely heavily on heuristics, moving it from an art form toward a more rigorous science; 2) greater interactive engagement for mechanical designers in both design and simulation, extending their scope from individual component choices to high-dimensional behaviors; and 3) hardware engineers to gain and extract system-level design intuitions, trade-offs and guidelines. 2025-05 Thesis https://hdl.handle.net/2142/129458 Copyright 2025, Youngwoo Sim Mechanical Sci & Engineering Mechanical Engineering University of Illinois Urbana-Champaign Ph.D. Dissertation