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dc.contributor.author
Geilinger, Moritz
dc.contributor.author
Poranne, Roi
dc.contributor.author
Desai, Ruta
dc.contributor.author
Thomaszewski, Bernhard
dc.contributor.author
Coros, Stelian
dc.date.accessioned
2019-02-20T07:14:33Z
dc.date.available
2019-01-21T15:08:08Z
dc.date.available
2019-01-22T12:01:39Z
dc.date.available
2019-02-20T07:14:33Z
dc.date.issued
2018-08-04
dc.identifier.issn
0730-0301
dc.identifier.issn
1557-7368
dc.identifier.other
10.1145/3197517.3201368
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/318153
dc.description.abstract
We present a computation-driven approach to design optimization and motion synthesis for robotic creatures that locomote using arbitrary arrangements of legs and wheels. Through an intuitive interface, designers first create unique robots by combining different types of servomotors, 3D printable connectors, wheels and feet in a mix-and-match manner. With the resulting robot as input, a novel trajectory optimization formulation generates walking, rolling, gliding and skating motions. These motions emerge naturally based on the components used to design each individual robot. We exploit the particular structure of our formulation and make targeted simplifications to significantly accelerate the underlying numerical solver without compromising quality. This allows designers to interactively choreograph stable, physically-valid motions that are agile and compelling. We furthermore develop a suite of user-guided, semi-automatic, and fully-automatic optimization tools that enable motion-aware edits of the robot's physical structure. We demonstrate the efficacy of our design methodology by creating a diverse array of hybrid legged/wheeled mobile robots which we validate using physics simulation and through fabricated prototypes.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
Association for Computing Machinery (ACM)
en_US
dc.subject
computational design
en_US
dc.subject
mobile robots
en_US
dc.subject
animation
en_US
dc.subject
physical characters
en_US
dc.title
Skaterbots: Optimization-based design and motion synthesis for robotic creatures with legs and wheels
en_US
dc.type
Conference Paper
dc.date.published
2018-07-30
ethz.journal.title
ACM Transactions on Graphics
ethz.journal.volume
37
en_US
ethz.journal.issue
4
en_US
ethz.journal.abbreviated
ACM trans. graph.
ethz.pages.start
1
en_US
ethz.size
12 p.
en_US
ethz.event
SIGGRAPH 2018
en_US
ethz.event.location
Vancouver, Canada
en_US
ethz.event.date
August 12-16, 2018
en_US
ethz.identifier.wos
ethz.publication.place
New York, NY
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02150 - Dep. Informatik / Dep. of Computer Science::02658 - Inst. Intelligente interaktive Systeme / Inst. Intelligent Interactive Systems::09620 - Coros, Stelian / Coros, Stelian
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02100 - Dep. Architektur / Dep. of Architecture::02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02150 - Dep. Informatik / Dep. of Computer Science::02658 - Inst. Intelligente interaktive Systeme / Inst. Intelligent Interactive Systems::09620 - Coros, Stelian / Coros, Stelian
ethz.date.deposited
2018-11-09T05:02:53Z
ethz.source
WOS
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2019-01-21T15:08:22Z
ethz.rosetta.lastUpdated
2020-02-15T17:26:32Z
ethz.rosetta.versionExported
true
dc.identifier.olduri
http://hdl.handle.net/20.500.11850/302226
dc.identifier.olduri
http://hdl.handle.net/20.500.11850/317763.3
ethz.COinS
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