X-CAD: Optimizing CAD Models with Extended Finite Elements
We propose a novel generic shape optimization method for CAD models based on the eXtended Finite Element Method (XFEM).
Fast Handovers with a Robot Character: Small Sensorimotor Delays Improve Perceived Qualities
We present a system for fast and robust handovers with a robot character, together with a user study investigating the effect of robot speed and reaction time on perceived interaction quality. The system can match and exceed human speeds and confirms that users prefer human-level timing.
Vibration-Minimizing Motion Retargeting for Robotic Characters
Creating animations for robotic characters is very challenging due to the constraints imposed by their physical nature. In particular, the combination of fast motions and unavoidable structural deformations leads to mechanical oscillations that negatively affect their performances. Our goal is to automatically transfer motions created using traditional animation software to robotic characters while avoiding such artifacts.
Trajectory-based Probabilistic Policy Gradient for Learning Locomotion Behaviors
In this paper, we propose a trajectory-based reinforcement learning method named deep latent policy gradient (DLPG) for learning locomotion skills.
Set-In-Stone: Worst-Case Optimization of Structures Weak in Tension
We propose a structural optimization that jointly optimizes an ornament’s strength-to-weight ratio and balance under self-weight, thermal, wind, and live loads.
PaintCopter: An Autonomous UAV for Spray Painting on 3D Surfaces
This paper describes a system for autonomous spray painting using a UAV, suitable for industrial applications.
StreetMap – Mapping and Localization on Ground Planes using a Downward Facing Camera
The paper describes a complete working pipeline to build a globally consistent map of a given ground-plane and subsequently to localize within this map at real-time.
Closed-Loop Temperature Control of Nylon Artificial Muscles
We demonstrate a nested controller using temperature and position feedback to improve contraction speed, and investigate the cooling rates of various configurations that increase total force output.
Design and Fabrication of a Bipedal Robot using Serial-Parallel Hybrid Leg Mechanism
We present the design and performance evaluation of a bipedal robot that utilizes the Hybrid Leg mechanism.
Computational Design of Robotic Devices from High-Level Motion Specifications
We demonstrate the effectiveness of our computational design method by automatically creating a variety of robotic manipulators and legged robots.
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