Related papers: Topology optimization of locomoting soft bodies us…
Efficient optimization of topology and raster angle has shown unprecedented enhancements in the mechanical properties of 3D printed materials. Topology optimization helps reduce the waste of raw material in the fabrication of 3D printed…
Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may also present large kinematic errors in the case of constrained…
The article presents a new method of linear programming, called the surface movement method. This method constructs an optimal objective path on the surface of the feasible polytope from the initial boundary point to the point at which the…
Topology optimization techniques have been applied in integrated optics and nanophotonics for the inverse design of devices with shapes that cannot be conceived by human intuition. At optical frequencies, these techniques have only been…
Trajectory optimization in multi-vehicle scenarios faces challenges due to its non-linear, non-convex properties and sensitivity to initial values, making interactions between vehicles difficult to control. In this paper, inspired by…
Many combinatorial optimization problems can be formulated as the search for a subgraph that satisfies certain properties and minimizes the total weight. We assume here that the vertices correspond to points in a metric space and can take…
We propose an approach for the generation of topology-optimized structures with text-guided appearance stylization. This methodology aims to enrich the concurrent design of a structure's physical functionality and aesthetic appearance.…
A fundamental problem in computer vision is boundary estimation, where the goal is to delineate the boundary of objects in an image. In this paper, we propose a method which jointly incorporates geometric and topological information within…
The paper surveys topological problems relevant to the motion planning problem of robotics and includes some new results and constructions. First we analyse the notion of topological complexity of configuration spaces which is responsible…
In this paper we address several constrained transportation optimization problems (e.g. vehicle routing, shortest Hamiltonian path), for which we present novel algorithmic solutions and extensions, considering several optimization…
The objective function used in trajectory optimization is often non-convex and can have an infinite set of local optima. In such cases, there are diverse solutions to perform a given task. Although there are a few methods to find multiple…
Microscopic robots could perform tasks with high spatial precision, such as acting in biological tissues on the scale of individual cells, provided they can reach precise locations. This paper evaluates the feasibility of in vivo locomotion…
We propose a novel level set-based topology optimization for micropolar solids subjected to thermo-mechanical loading. To capture the size effects, we have incorporated the microstructural length-scale information into the level set-based…
Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…
Soft robots are naturally designed to perform safe interactions with their environment, like locomotion and manipulation. In the literature, there are now many concepts, often bio-inspired, to propose new modes of locomotion or grasping.…
The present work proposes an extension of the third medium contact method for solving structural topology optimization problems that involve and exploit self-contact. A new regularization of the void region, which acts as the contact…
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interactions with…
In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative robots offers significant advantages for this task, as they…
This paper focuses on spatial time-optimal motion planning, a generalization of the exact time-optimal path following problem that allows the system to plan within a predefined space. In contrast to state-of-the-art methods, we drop the…
This work presents a computational method for the design of architected truss lattice materials where each strut can be made of one of a set of available materials. We design the lattices to extremize effective properties. As customary in…