{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/129458"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/129458","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Rapid computational design and simulation of highly dynamic legged robots","abstract":"Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms","abstract_html":"Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms","abstract_has_math":false,"creators":["Sim, Youngwoo"],"institution":"University of Illinois Urbana-Champaign","degree_name":"Ph.D.","degree_level":"Dissertation","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Ramos, Joao","Yim, Justin","Salapaka, Srinivasa","Kim, Joohyung"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2025,"date_issued":"2025-04-30","date_published":"2025-04-30","updated_at":"2026-07-22T22:25:05Z","subjects":["Humanoid Design","Actuation Design","Design Optimization"],"languages":["en","eng"],"rights":["Copyright 2025, Youngwoo Sim"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/2142/129458","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Ramos, Joao","Yim, Justin","Salapaka, Srinivasa","Kim, Joohyung"]},{"key":"dc:creator","label":"Author","values":["Sim, Youngwoo"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2025-04-30","2025-05"]},{"key":"dc:type","label":"Dc Type","values":["text","Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Humanoid Design","Actuation Design","Design Optimization"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en","eng"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2025, Youngwoo Sim"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://hdl.handle.net/2142/129458"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["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","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."]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Rapid computational design and simulation of highly dynamic legged robots"]}]}],"canonical_facts":{"dc:contributor":["Ramos, Joao","Yim, Justin","Salapaka, Srinivasa","Kim, Joohyung"],"dc:creator":["Sim, Youngwoo"],"dc:date":["2025-04-30","2025-05"],"dc:description":["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","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."],"dc:format":["application/pdf"],"dc:identifier":["https://hdl.handle.net/2142/129458"],"dc:language":["en","eng"],"dc:rights":["Copyright 2025, Youngwoo Sim"],"dc:subject":["Humanoid Design","Actuation Design","Design Optimization"],"dc:title":["Rapid computational design and simulation of highly dynamic legged robots"],"dc:type":["text","Thesis"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["Dissertation"],"thesis:degree_name":["Ph.D."],"thesis:institution_name":["University of Illinois Urbana-Champaign"]},"updated_at":"2026-07-22T22:25:05Z"}