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DTSTAMP:20260114T163648Z
LOCATION:Meeting Room C4.8\, Level 4 (Convention Centre)
DTSTART;TZID=Australia/Melbourne:20231212T154500
DTEND;TZID=Australia/Melbourne:20231212T160000
UID:siggraphasia_SIGGRAPH Asia 2023_sess160_papers_669@linklings.com
SUMMARY:ToRoS: A Topology Optimization Approach for Designing Robotic Skin
 s
DESCRIPTION:Juan Sebastian Montes Maestre, Ronan Hinchet, Stelian Coros, a
 nd Bernhard Thomaszewski (ETH Zürich)\n\nSoft robotics offers unique advan
 tages in manipulating fragile or deformable\nobjects, human-robot interact
 ion, and exploring inaccessible terrain. How-\never, designing soft robots
  that produce large, targeted deformations is\nchallenging. In this paper,
  we propose a new methodology for designing\nsoft robots that combines opt
 imization-based design with a simple and\ncost-efficient manufacturing pro
 cess. Our approach is centered around the\nconcept of robotic skins—thin f
 abrics with 3D-printed reinforcement pat-\nterns that augment and control 
 plain silicone actuators. By decoupling shape\ncontrol and actuation, our 
 approach enables a simpler and cost-efficient man-\nufacturing process. Un
 like previous methods that rely on empirical design\nheuristics for genera
 ting desired deformations, our approach automatically\ndiscovers complex r
 einforcement patterns without any need for domain\nknowledge or human inte
 rvention. This is achieved by casting reinforce-\nment design as a nonline
 ar constrained optimization problem and using\na novel, three-field topolo
 gy optimization approach tailored fabrics with\n3D-printed reinforcements.
  We demonstrate the potential of our approach by\ndesigning soft robotic a
 ctuators capable of various motions, such as bending,\ncontraction, twist,
  and combinations thereof. We also demonstrate applica-\ntions of our robo
 tic skins to robotic grasping with a soft three-finger gripper\nand locomo
 tion tasks for a soft quadrupedal robot.\n\nRegistration Category: Full Ac
 cess\n\nSession Chair: Ioannis Karamouzas (University of California Rivers
 ide)\n\n
URL:https://asia.siggraph.org/2023/full-program?id=papers_669&sess=sess160
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