  In this work, we investigate the use of co-design methods to iterate upon
robot designs in the field, performing time sensitive, ad-hoc tasks. Our method
optimizes the morphology and wheg trajectory for a MiniRHex robot, producing 3D
printable structures and leg trajectory parameters. Tested in four terrains, we
show that robots optimized in simulation exhibit strong sim-to-real transfer
and are nearly twice as efficient as the nominal platform when tested in
hardware.
