Related papers: Topology optimization of locomoting soft bodies us…

This work proposes a kinodynamic motion planning technique for collaborative object transportation by multiple mobile manipulators in dynamic environments. A global path planner computes a linear piecewise path from start to goal. A novel…

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 interaction with uncertainty…

We exploit level set topology optimization to find the optimal material distribution for metamaterial-based heat manipulators. The level set function, geometry, and solution field are parameterized using the non-uniform rational B-spline…

Topology optimization (TO) has experienced a dramatic development over the last decades aided by the arising of metamaterials and additive manufacturing (AM) techniques, and it is intended to achieve the current and future challenges. In…

We present a fast trajectory optimization algorithm for the soft capture of uncooperative tumbling space objects. Our algorithm generates safe, dynamically feasible, and minimum-fuel trajectories for a six-degree-of-freedom servicing…

We present an efficient spacetime optimization method to automatically generate animations for a general volumetric, elastically deformable body. Our approach can model the interactions between the body and the environment and automatically…

Topology optimization of microstructures plays a critical role in optimizing functional performance across diverse engineering applications. While metamaterials with enhanced mechanical properties -- such as hyperelasticity, energy…

Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…

We introduce a new trajectory optimization method for robotic grasping based on a point-cloud representation of robots and task spaces. In our method, robots are represented by 3D points on their link surfaces. The task space of a robot is…

We present a procedure to reconstruct objects from holograms recorded in in-line holography settings. Working with one beam of polarized light, the topological derivatives and energies of functionals quantifying hologram deviations yield…

We construct logical gates via topology optimisation (aimed to solve a station problem of heat conduction) of a conductive material layout. Values of logical variables are represented high and low values of a temperature at given sites.…

Motion retargeting from a human demonstration to a robot is an effective way to reduce the professional requirements and workload of robot programming, but faces the challenges resulting from the differences between humans and robots.…

Soft-growing robots are innovative devices that feature plant-inspired growth to navigate environments. Thanks to their embodied intelligence of adapting to their surroundings and the latest innovation in actuation and manufacturing, it is…

The increasing availability of full-field displacement data from imaging techniques in experimental mechanics is determining a gradual shift in the paradigm of material model calibration and discovery, from using several simple-geometry…

Photonic topology optimization is a technique used to find the electric permittivity distribution of a device that optimizes an electromagnetic figure-of-merit. Two common techniques are used: continuous density-based optimizations that…

Autonomous robots operating in real-world environments encounter a variety of objects that can be both rigid and articulated in nature. Having knowledge of these specific object properties not only helps in designing appropriate…

This paper presents a topology optimization approach to design 2D contact-aided compliant mechanisms (CCMs) that can trace the desired output paths with more than one kink while experiencing self and/or external contacts. Such CCMs can be…

This paper presents a planning pipeline framework for locomotion in rope-assisted robots climbing vertical surfaces. The proposed framework is formulated as a bi-level optimization scheme that addresses a mixed-integer problem: selecting…

We propose a new algorithm for the design of topologically optimized lightweight structures, under a minimum compliance requirement. The new process enhances a standard level set formulation in terms of computational efficiency, thanks to…

A topology optimization formulation including a model of the layer-by-layer additive manufacturing (AM) process is considered. Defined as a multi-objective minimization problem, the formulation accounts for the performance and cost of both…