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DTSTAMP:20240214T070242Z
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:Technical Papers, TOG\n\nJuan Sebastian Montes Maestre, Ronan 
 Hinchet, Stelian Coros, and Bernhard Thomaszewski (ETH Zürich)\n\nSoft rob
 otics offers unique advantages in manipulating fragile or deformable\nobje
 cts, human-robot interaction, and exploring inaccessible terrain. How-\nev
 er, designing soft robots that produce large, targeted deformations is\nch
 allenging. In this paper, we propose a new methodology for designing\nsoft
  robots that combines optimization-based design with a simple and\ncost-ef
 ficient manufacturing process. Our approach is centered around the\nconcep
 t of robotic skins—thin fabrics with 3D-printed reinforcement pat-\nterns 
 that augment and control plain silicone actuators. By decoupling shape\nco
 ntrol and actuation, our approach enables a simpler and cost-efficient man
 -\nufacturing process. Unlike previous methods that rely on empirical desi
 gn\nheuristics for generating desired deformations, our approach automatic
 ally\ndiscovers complex reinforcement patterns without any need for domain
 \nknowledge or human intervention. This is achieved by casting reinforce-\
 nment design as a nonlinear constrained optimization problem and using\na 
 novel, three-field topology optimization approach tailored fabrics with\n3
 D-printed reinforcements. We demonstrate the potential of our approach by\
 ndesigning soft robotic actuators capable of various motions, such as bend
 ing,\ncontraction, twist, and combinations thereof. We also demonstrate ap
 plica-\ntions of our robotic skins to robotic grasping with a soft three-f
 inger gripper\nand locomotion tasks for a soft quadrupedal robot.\n\nRegis
 tration Category: Full Access\n\nSession Chair: Ioannis Karamouzas (Clemso
 n University, University of California Riverside)
URL:https://asia.siggraph.org/2023/full-program?id=papers_669&sess=sess160
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