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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.
Trusses are load-carrying light-weight structures consisting of bars connected at joints ubiquitously applied in a variety of engineering scenarios. Designing optimal trusses that satisfy functional specifications with a minimal amount of material ha
In this work, we present a novel, integrated rigged character simulation framework in Conformal Geometric Algebra (CGA) that supports, for the first time, real-time cuts and tears, before and/or after the animation, while maintaining deformation topo
Despite the increasing availability of personal fabrication hardware and services, the true potential of digital fabrication remains unrealized due to lack of computational techniques that can support 3D shape design by non-experts. This work develop
Computational medical XR (extended reality) unifies the computer science applications of intelligent reality, medical virtual reality, medical augmented reality and spatial computing for medical training, planning and navigation content creation. It
Parquetry is the art and craft of decorating a surface with a pattern of differently colored veneers of wood, stone or other materials. Traditionally, the process of designing and making parquetry has been driven by color, using the texture found in