Abstract. The forward and inverse design tasks of an incomplete-drive hopping robot capable of energy-efficient dynamic locomotion are considered. A solution to the direct design problem of simulating a robot in a virtual environment in order to study its behavior and performance is presented. A solution of the inverse design problem is obtained, which consists in the formation of requirements and the search for robot parameters that ensure its best performance. Since simulation modeling does not fully reflect the processes occurring in real life, the design results tested exclusively in a virtual environment cannot fully describe the results of a real experiment and replace them. The results of virtual and full-scale experiments of a prototype of a non-wheel drive jumping robot are compared, and the rationale for the discrepancies in the data obtained is given.

Keywords: forward design task, inverse design task, incomplete-drive robot, morphological computation, co-design

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