Computational Design of Skinned Quad-Robots
Computational Design of Skinned Quad-Robots
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DOI：
10.1109/tvcg.2019.2957218
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发表时间：
2019-07
影响因子：
5.2
通讯作者：
Xudong Feng;Jiafeng Liu;Huamin Wang;Yin Yang;H. Bao;B. Bickel;Weiwei Xu
中科院分区：
文献类型：
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作者：
Xudong Feng;Jiafeng Liu;Huamin Wang;Yin Yang;H. Bao;B. Bickel;Weiwei Xu
我们提出了一个计算设计系统，帮助用户建模，优化和制造四机器人软皮肤。我们的系统通过充分整合机械骨架的多体动力学和软皮肤的弹性行为来解决预测其物理行为的挑战性任务。所开发的运动控制策略使用交替优化方案，以避免昂贵的全时空优化，交错时空优化的骨架，和逐帧优化的全动态。输出是电机转矩，以驱动机器人实现用户指定的运动轨迹。我们还提供了一系列方便的工程工具和经验的制造指导，以支持所设计的四机器人的制造。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 a computational design system that assists users to model, optimize, and fabricate quad-robots with soft skins. Our system addresses the challenging task of predicting their physical behavior by fully integrating the multibody dynamics of the mechanical skeleton and the elastic behavior of the soft skin. The developed motion control strategy uses an alternating optimization scheme to avoid expensive full space time-optimization, interleaving space-time optimization for the skeleton, and frame-by-frame optimization for the full dynamics. The output are motor torques to drive the robot to achieve a user prescribed motion trajectory. We also provide a collection of convenient engineering tools and empirical manufacturing guidance to support the fabrication of the designed quad-robot. We validate the feasibility of designs generated with our system through physics simulations and with a physically-fabricated prototype.