Related papers: Topology optimization of locomoting soft bodies us…
This paper combines the fast Zero-Moment-Point (ZMP) approaches that work well in practice with the broader range of capabilities of a Trajectory Optimization formulation, by optimizing over body motion, footholds and Center of Pressure…
When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…
Trajectory optimization (TO) is one of the most powerful tools for generating feasible motions for humanoid robots. However, including uncertainties and stochasticity in the TO problem to generate robust motions can easily lead to…
The recent decades have seen various attempts at accelerating the process of developing materials targeted towards specific applications. The performance required for a particular application leads to the choice of a particular material…
A typical manipulation task consists of a manipulator equipped with a gripper to grasp and move an object with constraints on the motion of the hand-held object, which may be due to the nature of the task itself or from object-environment…
Video processing solutions for motion analysis are key tasks in many computer vision applications, ranging from human activity recognition to object detection. In particular, speed estimation algorithms may be relevant in contexts such as…
This paper presents a density-based topology optimization approach to design structures under self-weight load. Such loads change their magnitude and/or location as the topology optimization advances and pose several unique challenges,…
This paper implements topology optimization on two-dimensional manifolds. In this paper, the material interpolation is implemented on a material parameter in the partial differential equation used to describe a physical field, when this…
We propose a novel method for planning shortest length piecewise-linear motions through complex environments punctured with static, moving, or even morphing obstacles. Using a moment optimization approach, we formulate a hierarchy of…
A multiobjective optimization method is proposed for obtaining the optimal plane trusses simultaneously for various aspect ratios of the initial ground structure as a set of Pareto optimal solutions generated through a single optimization…
In this paper we present a mixed projection- and density-based topology optimization approach. The aim is to combine the benefits of both parametrizations: the explicit geometric representation provides specific controls on certain design…
We present a computational design methodology for topology optimization of multi-material-based flexoelectric composites. The methodology extends our recently proposed design methodology for a single flexoelectric material. We adopt the…
This paper proposes an accelerated proximal point method for maximally monotone operators. The proof is computer-assisted via the performance estimation problem approach. The proximal point method includes various well-known convex…
Hybrid-excited electrical machines aim to combine the advantages of permanent magnet machines (high efficiency and torque density) with those of separately excited machines (ease of flux-weakening at high speed). These machines are of…
Topology optimization is widely used by engineers during the initial product development process to get a first possible geometry design. The state-of-the-art is the iterative calculation, which requires both time and computational power.…
In this research, multi-physics topology optimization is employed to achieve the detailed design of a lightweight porous linear actuation mechanism that harnesses energy through laser activation. A multiscale topology optimization…
Robots need to estimate the material and dynamic properties of objects from observations in order to simulate them accurately. We present a Bayesian optimization approach to identifying the material property parameters of objects based on a…
Topological mapping of a large physical system on a graph, and its decomposition using universal measures is proposed. We find inherent limits to the potential for optimization of a given system and its approximate representations by…
This paper considers the design of structures made of engineered materials, accounting for uncertainty in material properties. We present a topology optimization approach that optimizes the structural shape and topology at the macroscale…
We discuss a topology optimization problem for an elastoplastic medium. The distribution of material in a region is optimized with respect to a given target functional taking into account compliance. The incremental elastoplastic problem…