  We present an interactive, computational design system for creating custom
robotic arms given high-level task descriptions and environmental constraints.
Various task requirements can be encoded as desired motion trajectories for the
robot arm's end-effector. Given such end-effector trajectories, our system
enables on-demand design of custom robot arms using a library of modular and
reconfigurable parts such as actuators and connecting links. By searching
through the combinatorial set of possible arrangements of these parts, our
method generates a functional, as-simple-as-possible robot arm that is capable
of tracking the desired trajectories. We demonstrate our system's capabilities
by creating robot arm designs in simulation, for various trajectory following
scenarios.
