In this paper, we propose a technique that simultaneously solves for optimal design and control parameters for a robotic character whose design is parameterized with configurable joints. At the technical core of our technique is an efficient solution strategy that uses dynamic programming to solve for optimal state, control, and design parameters, together with a strategy to remove redundant constraints that commonly exist in general robot assemblies with kinematic loops.
We propose to augment common simulation representations with a transformer-inspired architecture, by training a network to predict the true state of robot building blocks given their simulation state. Because we augment building blocks, rather than the full simulation state, we make our approach modular which improves generalizability and robustness.
Robots with kinematic loops are known to have superior mechanical performance. However, due to these loops, their modeling and control is challenging, and prevents a more widespread use. In this paper, we describe a versatile Inverse Kinematics (IK) formulation for the retargeting of expressive motions onto mechanical systems with loops.
We present a differentiable dynamics solver that is able to handle frictional contact for rigid and deformable objects within a unified framework. Through a principled mollification of normal and tangential contact forces, our method circumvents the main difficulties inherent to the non-smooth nature of frictional contact.
We present an interactive design system that allows users to create sculpting styles and fabricate clay models using a standard 6-axisrobot arm.
We present a computational technique that aids with the design of structurally-sound metal frames, tailored for robotic fabrication using an existing process that integrate automated bar bending, welding, and cutting. Aligning frames with structurally-favorable orientations, and decomposing models into fabricable units, we make the fabrication process scale-invariant, and frames globally align in an aesthetically-pleasing and structurally-informed manner.
This paper describes the development of a system for lifelike gaze in human-robot interactions using a humanoid animatronic bust. We present a general architecture that seeks not only to create gaze interactions from a technological standpoint, but also through the lens of character animation where the fidelity and believability of motion is paramount; that is, we seek to create an interaction which demonstrates the illusion of life.
In this paper we investigate the role of haptic feedback in human/robot handshaking by comparing different force controllers. The basic hypothesis is that in human handshaking force control there is a balance between an intrinsic (open--loop) and extrinsic (closed--loop) contribution. We use an underactuated anthropomorphic robotic hand, the Pisa/IIT hand, instrumented with a set of pressure sensors estimating the grip force applied by humans. In a first set of experiments we ask subjects to mimic a given force profile applied by the robot hand, to understand how human perceive and are able to reproduce a handshaking force.
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