Interactive Design of 3D-Printable Robotic Creatures
Interactive Design of 3D-Printable Robotic Creatures
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DOI：
10.1145/2816795.2818137
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发表时间：
2015-11-01
影响因子：
6.2
通讯作者：
Coros, Stelian
中科院分区：
文献类型：
--
作者：
Megaro, Vittorio;Thomaszewski, Bernhard;Coros, Stelian
我们提出了一个交互式设计系统，允许休闲用户快速创建3D打印的机器人生物。我们的方法自动化设计过程中繁琐的部分，同时提供足够的空间，定制的形态，比例，步态和运动风格。我们的框架的技术核心是一个有效的优化为基础的解决方案，产生稳定的运动腿机器人的任意设计。一套直观的编辑工具允许用户交互式地探索可行设计的空间，并研究形态特征和所产生的运动之间的关系。制造蓝图是自动生成的，因此机器人设计可以使用3D打印和现成的伺服电机制造。我们证明了我们的解决方案的有效性，通过设计六个机器人生物的各种形态特征：两个，四个或五个腿，点或面积脚，驱动脊柱和不同的比例。我们通过物理模拟和物理制造的原型验证了我们的系统所产生的设计的可行性。
We present an interactive design system that allows casual users to quickly create 3D-printable robotic creatures. Our approach automates the tedious parts of the design process while providing ample room for customization of morphology, proportions, gait and motion style. The technical core of our framework is an efficient optimization-based solution that generates stable motions for legged robots of arbitrary designs. An intuitive set of editing tools allows the user to interactively explore the space of feasible designs and to study the relationship between morphological features and the resulting motions. Fabrication blueprints are generated automatically such that the robot designs can be manufactured using 3D-printing and off-the-shelf servo motors. We demonstrate the effectiveness of our solution by designing six robotic creatures with a variety of morphological features: two, four or five legs, point or area feet, actuated spines and different proportions. We validate the feasibility of the designs generated with our system through physics simulations and physically-fabricated prototypes.