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DTSTAMP:20240214T070241Z
LOCATION:Darling Harbour Theatre\, Level 2 (Convention Centre)
DTSTART;TZID=Australia/Melbourne:20231212T093000
DTEND;TZID=Australia/Melbourne:20231212T124500
UID:siggraphasia_SIGGRAPH Asia 2023_sess209_papers_939@linklings.com
SUMMARY:Optimal Design of Robotic Character Kinematics
DESCRIPTION:Technical Papers\n\nGuirec Maloisel, Christian Schumacher, Esp
 en Knoop, Ruben Grandia, and Moritz Bächer (Disney Research)\n\nThe kinema
 tic motion of a robotic character is defined by its mechanical joints and 
 actuators that restrict the relative motion of its rigid components. Desig
 ning robots that perform a given target motion as closely as possible with
  a fixed number of actuated degrees of freedom is challenging, especially 
 for robots that form kinematic loops. In this paper, we propose a techniqu
 e that simultaneously solves for optimal design and control parameters for
  a robotic character whose design is parameterized with configurable joint
 s. At the technical core of our technique is an efficient solution strateg
 y that uses dynamics programming to solve for optimal state, control, and 
 design parameters, together with a strategy to remove redundant constraint
 s that commonly exist in general robot assemblies with kinematic loops. We
  demonstrate the efficacy of our approach by either editing the design of 
 an existing robotic character, or by optimizing the design of a new charac
 ter to perform a desired motion.\n\nRegistration Category: Full Access, En
 hanced Access, Trade Exhibitor, Experience Hall Exhibitor
URL:https://asia.siggraph.org/2023/full-program?id=papers_939&sess=sess209
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