• ¿Qué es UTP-Ridda2?
  • Políticas
  • ¿Cómo Depositar?
  • Estadísticas
Repositorio Institucional
de la Universidad Tecnológica de Panamá
    • English
    • español
  • English 
    • English
    • español
  • Login
View Item 
  •   UTP-Ridda2
  • Memorias de Congresos UTP
  • 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018
  • View Item
  •   UTP-Ridda2
  • Memorias de Congresos UTP
  • 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Interactive Co-Design Of Form And Function For Legged Robots Using The Adjoint Method

Thumbnail
Author
Desai, Ruta
Li, Beichen
Yuan, Ye
Coros, Stelian
Metadata
Show full item record
Abstract
Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots. Towards this goal, we present an interactive computational design system that enables users to design legged robots with desired morphologies and behaviors by specify- ing higher level descriptions. The core of our method is a design optimization technique that reasons about the structure and motion of a robot in a coupled manner to achieve user-speci ed robot behavior and performance. We are in- spired by the recent works that also aim to jointly optimize robot's form and function. However, through eficient computation of necessary design changes, our approach enables us to keep user-in-the-loop for interactive applications. We evaluate our system in simulation by starting with initial user designs that are physically infeasible or inadequate to perform the user-desired task. We then show optimized designs that achieve user-speci cations, all while ensur- ing an interactive design  ow.
URL
http://revistas.utp.ac.pa/index.php/memoutp/article/view/1888
URI
http://ridda2.utp.ac.pa/handle/123456789/5735
Collections
  • 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018 [52]
License
info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/4.0/

Browse

All of UTP-Ridda2Communities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

My Account

LoginRegister

Statistics

View Usage Statistics

  • Enlaces de Interes

  • ¿Qué es UTP-Ridda2?
  • Políticas
  • ¿Cómo depositar?
  • Sitios Recomendados

  • Revistas UTP
  • Sistema de Información Científica
  • Universidad Tecnológica de Panamá
  • Redes Sociales

  • facebook.com/UTPrepositorio
  • @utprepositorio

Recolectado por:

El OAI de este repositorio: http://ridda2.utp.ac.pa/oai/
Repositorio Institucional de Documentos Digitales de Acceso Abierto de la Universidad de Tecnológica de Panamá.
Este repositorio utiliza la Licencia CC BY-NC-SA y funciona bajo DSpace.

Contact Us | Send Feedback
Universidad Tecnológica de Panamá

  • Enlaces de Interes

  • ¿Qué es UTP-Ridda2?
  • Políticas
  • ¿Cómo depositar?
  • Sitios Recomendados

  • Revistas UTP
  • Sistema de Información Científica
  • Universidad Tecnológica de Panamá
  • Redes Sociales

  • facebook.com/UTPrepositorio
  • @utprepositorio

Recolectado por:

El OAI de este repositorio: http://ridda2.utp.ac.pa/oai/
Repositorio Institucional de Documentos Digitales de Acceso Abierto de la Universidad de Tecnológica de Panamá.
Este repositorio utiliza la Licencia CC BY-NC-SA y funciona bajo DSpace.

Contact Us | Send Feedback
Universidad Tecnológica de Panamá