Design and Fabrication of Personalized Robotic Devices Stelian - - PowerPoint PPT Presentation

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Design and Fabrication of Personalized Robotic Devices Stelian - - PowerPoint PPT Presentation

Feb 05, 2023 278 likes •1.26k views

Design and Fabrication of Personalized Robotic Devices Stelian Coros Computer Graphics & Animation Robotics Computational Design 3D Printing From Digital To Real 3D Printing: limitless opportunities complexity is free

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Design and Fabrication of Personalized Robotic Devices

Stelian Coros

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Computer Graphics & Animation Computational Design Robotics

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3D Printing – From Digital To Real

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3D Printing: limitless opportunities

– complexity is free – multi-material capabilities – great for one-off’s – empowers new designers

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Can we make the process of creating robots easily accessible to anyone?

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Spore Creature Creator

[Hecker et al., SIGGRAPH 2008]

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Automata: animated mechanical devices

Sisyphus by D. Johnson

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User Input Mechanism Design Finishing

Database Retrieval Collision Resolution Character Motion Curves Database Retrieval Database Retrieval Database Retrieval Parameter Optimization Database Retrieval Timing Control Database Retrieval Support Structure Database Retrieval Gear Connections Database Retrieval Fabrication

Overview

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Simulation Model

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component j

Simulation Model

component i

Pin Connections

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component j

Simulation Model

component i

Pin Connections Point-on-Line Connections Gear-to-Gear Connections

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Simulation Model

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Mechanism Design

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Library of Mechanisms

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Parameterized Mechanisms

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Parameterized Mechanisms

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Parameterized Mechanisms

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Parameterized Mechanisms

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Mechanism Design

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Sparse Database of Representative Motions

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Sparse Sampling of Parameter Space

Parameter Space Parameter Space

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Sparse Sampling of Parameter Space

Parameter Space Parameter Space

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Continuous Optimization

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Continuous Optimization

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Continuous Optimization

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Continuous Optimization

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Results

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From animated characters to physical robots?

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Goal: a design tool for complex linkage structures subject to aesthetic and functional requirements.

Input Design Tool Output

  • 1. Discrete-continuous

problem

  • 2. Prone to singularities
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Input Design Tool Output

Topology Design Parameter Optimization

Goal: a design tool for complex linkage structures subject to aesthetic and functional requirements.

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Topology Design: Motor Replacement

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Topology Design: Motor Replacement

d=const. ത 𝐲𝑐 ത 𝐲𝑏 𝑑𝑐 𝑑𝑏

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Topology Design: Motor Replacement

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Topology Design: Motor Replacement

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Topology Design: Generalization

ഥ 𝒚𝑏 ഥ 𝒚𝑐

Find ത 𝐲𝑏 and ത 𝐲𝑐 to minimize:

𝐹DV = σ𝑗 𝐲𝑏 𝑢𝑗 − 𝐲𝑐 𝑢𝑗

2 − 𝑚𝑏𝑐 𝟑

ത 𝐲𝑏 ത 𝐲𝑐

xm

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Topology Design: Browsing Options

ഥ 𝒚𝑏 ഥ 𝒚𝑐

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Topology Design: Browsing Options

ഥ 𝒚𝑏 ഥ 𝒚𝑐

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Input Mechanism Design

Topology Optimization

Global Optimization

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Global Optimization

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Global Optimization

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Global Optimization

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Global Optimization

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Input Mechanism Design

Topology Optimization

Character Finishing

Output

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Results

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Charging Bull

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Charging Bull

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Charging Bull

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From Mechanical Automata to Walking Robots

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Optimize for: Subject to:

contact flags

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Forward vs Inverse Design

  • Forward design:

– User input: robot design – system output: motion controller

  • Inverse design:

– User input: high-level goal – System output: robot design and motion controller

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High-level goals

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The Design Space

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The Design Space

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From high-level goal to robotic devices

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From high-level goal to robotic devices

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From high-level goal to robotic devices

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From high-level goal to robotic devices

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Beyond Rigid Structures…

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Computational Design of Elastic Objects

Actuator Location Optimization Material Optimization Fabricated Deformable Model Input and Target Shapes

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Problem Formulation

𝐹 𝐲, 𝐪 = 𝐹𝑛𝑏𝑢𝑑ℎ 𝐲, 𝐲𝑢𝑏𝑠𝑕𝑓𝑢 Design Parameters 𝐠𝑢𝑝𝑢𝑏𝑚 𝐲, 𝐪 = 0 subject to

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Actuator Location Optimization

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Results – Tour Eiffel

Input Animation Simulation

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Results – Tour Eiffel

Input Animation Fabricated Prototype

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Material Distribution Optimization

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Fabrication

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Animating Elastic Objects

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Fabrication

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Results – Grampolo

Target Pose Rest Pose Stiff Soft

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Can we make the process of creating robots easily accessible to anyone?

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Thank you!

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