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DTSTAMP:20260114T163648Z
LOCATION:Meeting Room C4.8\, Level 4 (Convention Centre)
DTSTART;TZID=Australia/Melbourne:20231212T161000
DTEND;TZID=Australia/Melbourne:20231212T162500
UID:siggraphasia_SIGGRAPH Asia 2023_sess160_papers_939@linklings.com
SUMMARY:Optimal Design of Robotic Character Kinematics
DESCRIPTION:Guirec Maloisel, Christian Schumacher, Espen Knoop, Ruben Gran
 dia, and Moritz Bächer (Disney Research)\n\nThe kinematic motion of a robo
 tic character is defined by its mechanical joints and actuators that restr
 ict the relative motion of its rigid components. Designing robots that per
 form a given target motion as closely as possible with a fixed number of a
 ctuated degrees of freedom is challenging, especially for robots that form
  kinematic loops. In this paper, we propose a technique that simultaneousl
 y solves for optimal design and control parameters for a robotic character
  whose design is parameterized with configurable joints. At the technical 
 core of our technique is an efficient solution strategy that uses dynamics
  programming to solve for optimal state, control, and design parameters, t
 ogether with a strategy to remove redundant constraints that commonly exis
 t in general robot assemblies with kinematic loops. We demonstrate the eff
 icacy of our approach by either editing the design of an existing robotic 
 character, or by optimizing the design of a new character to perform a des
 ired motion.\n\nRegistration Category: Full Access\n\nSession Chair: Ioann
 is Karamouzas (University of California Riverside)\n\n
URL:https://asia.siggraph.org/2023/full-program?id=papers_939&sess=sess160
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