Conguration optimization of trusses is categorized into topology optimization and geometry optimization, as described in Secs. 1.1 and 1.10, and so far we have mainly considered topology optimization. In this chapter, some methods are presented for conguration optimization of trusses for optimizing topology, nodal locations, and cross-sectional areas simultaneously. A historical review is presented in Sec. 4.1 as an introduction to this chapter. Basic formulations and small examples are given in Sec. 4.2. An optimization method is presented for regular plane trusses with uniform cross-sectional area in Sec. 4.3. Link mechanisms are generated using the extended ground structure approach considering geometrical nonlinearity in Sec. 4.4.