Name
Abstract | ||
|---|---|---|
We present an interactive, computational design system for creating custom robotic arms given high-level task descriptions and environmental constraints. Various task requirements can be encoded as desired motion trajectories for the robot armu0027s end-effector. Given such end-effector trajectories, our system enables on-demand design of custom robot arms using a library of modular and reconfigurable parts such as actuators and connecting links. By searching through the combinatorial set of possible arrangements of these parts, our method generates a functional, as-simple-as-possible robot arm that is capable of tracking the desired trajectories. We demonstrate our systemu0027s capabilities by creating robot arm designs in simulation, for various trajectory following scenarios. |
Year | Venue | Field |
|---|---|---|
2018 | arXiv: Robotics | Robotic arm,Simulation,Computational design,Control engineering,Modular design,Engineering,Robot,Trajectory,Actuator |
DocType | Volume | Citations |
Journal | abs/1806.07419 | 0 |
PageRank | References | Authors |
0.34 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ruta Desai | 1 | 11 | 1.91 |
| Margarita Safonova | 2 | 0 | 0.68 |
| Katharina Mülling | 3 | 158 | 9.51 |
| Stelian Coros | 4 | 862 | 56.47 |