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Computational Design of Skinned Quad-Robots
2019
IEEE Transactions on Visualization and Computer Graphics
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,
doi:10.1109/tvcg.2019.2957218
pmid:31804937
fatcat:pj5a6bopajamxkfktec2e5wuu4