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Designing robots that perform a given target motion as closely as possible with a fixed number of actuated degrees of freedom is challenging, especially for robots that form kinematic loops. In this paper, we propose a technique that simultaneously solves for optimal design and control parameters for a robotic character whose design is parameterized with configurable joints. At the technical core of our technique is an efficient solution strategy that uses dynamic programming to solve for optimal state, control, and design parameters, together with a strategy to remove redundant constraints that commonly exist in general robot assemblies with kinematic loops. 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