Diffusion-Weighted MRI (DW-MRI) often suffers from motion-related artifacts in organs that experience physiological motion. Importantly, organ motion during the application of diffusion gradients results in signal losses, which complicate image interpretation and bias quantitative measures. Motion-compensated gradient designs have been proposed, however they typically result in substantially lower b-values or severe concomitant gradient effects. In this work, we develop an approach for design of first- and second-order motion-compensated gradient waveforms based on a b-value maximization formulation including concomitant gradient nulling, and we compare it to existing techniques. The proposed design provides optimized b-values with motion compensation and concomitant gradient nulling.