Computational Design of Skinned Quad-Robots

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.

Automated summary

The computational design system integrates multibody dynamics of the mechanical skeleton and elastic behavior of soft skin to predict physical behavior of quad-robots. An alternating optimization scheme is used for motion control, with motor torques as output. Engineering tools and manufacturing guidance are provided, feasibility of designs is validated through physics simulations and a physically-fabricated prototype.