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

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

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

Spore Creature Creator [Hecker et al., SIGGRAPH 2008]

Automata: animated mechanical devices Sisyphus by D. Johnson

User Input Overview Motion Character Curves Mechanism Design Database Parameter Timing Database Database Database Control Retrieval Optimization Retrieval Retrieval Retrieval Finishing Gear Collision Support Database Database Database Database Fabrication Resolution Structure Connections Retrieval Retrieval Retrieval Retrieval

Simulation Model

Simulation Model Pin Connections component i component j

Simulation Model Pin Connections Point-on-Line Connections Gear-to-Gear Connections component i component j

Simulation Model

Mechanism Design

Library of Mechanisms 24

Parameterized Mechanisms

Parameterized Mechanisms

Parameterized Mechanisms

Parameterized Mechanisms

Mechanism Design

Sparse Database of Representative Motions

Sparse Sampling of Parameter Space Parameter Space Parameter Space

Sparse Sampling of Parameter Space Parameter Space Parameter Space

Continuous Optimization

Continuous Optimization Continuous Optimization 35

Continuous Optimization

Results

From animated characters to physical robots?

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

Goal: a design tool for complex linkage structures subject to aesthetic and functional requirements. Input Design Tool Output Parameter Topology Optimization Design

Topology Design: Motor Replacement

Topology Design: Motor Replacement 𝑑 𝑏 ത 𝐲 𝑏 d =const. ത 𝐲 𝑐 𝑑 𝑐

Topology Design: Motor Replacement

Topology Design: Motor Replacement

Topology Design: Generalization ഥ 𝒚 𝑏 𝐲 𝑏 ത Find ത 𝐲 𝑏 and ത 𝐲 𝑐 to minimize: 2 − 𝑚 𝑏𝑐 𝟑 𝐹 DV = σ 𝑗 𝐲 𝑏 𝑢 𝑗 − 𝐲 𝑐 𝑢 𝑗 ത 𝐲 𝑐 ഥ 𝒚 𝑐 x m

Topology Design: Browsing Options ഥ 𝒚 𝑏 ഥ 𝒚 𝑐

Topology Design: Browsing Options ഥ 𝒚 𝑏 ഥ 𝒚 𝑐

Global Optimization Input Mechanism Design Optimization Topology

Global Optimization

Global Optimization

Global Optimization

Global Optimization

Character Finishing Input Mechanism Design Output Optimization Topology

Results

Charging Bull

Charging Bull

Charging Bull

From Mechanical Automata to Walking Robots

Optimize for: Subject to: contact flags

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 73

High-level goals 74

The Design Space

The Design Space 76

From high-level goal to robotic devices 77

From high-level goal to robotic devices 78

From high-level goal to robotic devices 79

From high-level goal to robotic devices 80

Beyond Rigid Structures…

Computational Design of Elastic Objects + Input and Target Actuator Location Material Fabricated Shapes Optimization Optimization Deformable Model

Problem Formulation Design Parameters 𝐠 𝑢𝑝𝑢𝑏𝑚 𝐲, 𝐪 = 0 𝐹 𝐲, 𝐪 = 𝐹 𝑛𝑏𝑢𝑑ℎ 𝐲, 𝐲 𝑢𝑏𝑠𝑕𝑓𝑢 subject to

Actuator Location Optimization

Results – Tour Eiffel Input Animation Simulation

Results – Tour Eiffel Input Animation Fabricated Prototype

Material Distribution Optimization

Fabrication

Animating Elastic Objects

Fabrication

Results – Grampolo Rest Pose Stiff Soft Target Pose

92

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

Thank you!