[Submitted on 29 Sep 2026]
Title:Draft: A Parametric Tool for Robot Design Exploration
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Abstract:Robot performance is often limited by the cost of iterating on morphology and control together, since every computer-aided design (CAD) change has to be carried into a simulation-ready model before control work begins. Co-design methods attempt to close this gap, but each uses a model generator written for a single platform or lack the use of real-world data to suggest that designs are plausible. We present Draft, a parametric generation tool whose generalized engine compiles any parametric tree of serial chains into a simulation-ready MJCF model, without CAD. It allows engineers to explore design tradeoffs through easily adjustable models and evaluate how changes influence controller performance. Draft grounds the free parameters of each design using trends fitted to a survey of $114$ actuators and $49$ published robot descriptions, so that a generated robot is anchored to real-world hardware. We validate those trends wholistically by building twins of four off-the-shelf robots, whose masses agree to $1.10\times$ geometric mean fold error. Finally, we demonstrate how Draft exposes design tradeoffs by evaluating three quadrupeds through a two-stage reinforcement learning curriculum.
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2609.38405 [cs.RO]
(or arXiv:2609.38405v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2609.38405
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: David Nguyen [view email] [v1] Tue, 29 Sep 2026 19:00:40 UTC (5,487 KB)
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