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We present an interactive, computational design system for creating customrobotic arms given high-level task descriptions and environmental constraints.Various task requirements can be encoded as desired motion trajectories for therobot arm's end-effector. Given such end-effector trajectories, our systemenables on-demand design of custom robot arms using a library of modular andreconfigurable parts such as actuators and connecting links. By searchingthrough the combinatorial set of possible arrangements of these parts, ourmethod generates a functional, as-simple-as-possible robot arm that is capableof tracking the desired trajectories. We demonstrate our system's capabilitiesby creating robot arm designs in simulation, for various trajectory followingscenarios.

Automatic Design of Task-specific Robotic Arms