BEGIN:VCALENDAR
VERSION:2.0
PRODID:Linklings LLC
BEGIN:VTIMEZONE
TZID:Australia/Melbourne
X-LIC-LOCATION:Australia/Melbourne
BEGIN:DAYLIGHT
TZOFFSETFROM:+1000
TZOFFSETTO:+1100
TZNAME:AEDT
DTSTART:19721003T020000
RRULE:FREQ=YEARLY;BYMONTH=4;BYDAY=1SU
END:DAYLIGHT
BEGIN:STANDARD
DTSTART:19721003T020000
TZOFFSETFROM:+1100
TZOFFSETTO:+1000
TZNAME:AEST
RRULE:FREQ=YEARLY;BYMONTH=10;BYDAY=1SU
END:STANDARD
END:VTIMEZONE
BEGIN:VEVENT
DTSTAMP:20240214T070242Z
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_669@linklings.com
SUMMARY:ToRoS: A Topology Optimization Approach for Designing Robotic Skin
 s
DESCRIPTION:Technical Papers\n\nJuan Sebastian Montes Maestre, Ronan Hinch
 et, Stelian Coros, and Bernhard Thomaszewski (ETH Zürich)\n\nSoft robotics
  offers unique advantages in manipulating fragile or deformable\nobjects, 
 human-robot interaction, and exploring inaccessible terrain. How-\never, d
 esigning soft robots that produce large, targeted deformations is\nchallen
 ging. In this paper, we propose a new methodology for designing\nsoft robo
 ts that combines optimization-based design with a simple and\ncost-efficie
 nt manufacturing process. Our approach is centered around the\nconcept of 
 robotic skins—thin fabrics 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-\nuf
 acturing process. Unlike previous methods that rely on empirical design\nh
 euristics for generating desired deformations, our approach automatically\
 ndiscovers complex reinforcement patterns without any need for domain\nkno
 wledge 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\n3D-pri
 nted reinforcements. We demonstrate the potential of our approach by\ndesi
 gning soft robotic actuators capable of various motions, such as bending,\
 ncontraction, twist, and combinations thereof. We also demonstrate applica
 -\ntions of our robotic skins to robotic grasping with a soft three-finger
  gripper\nand locomotion tasks for a soft quadrupedal robot.\n\nRegistrati
 on Category: Full Access, Enhanced Access, Trade Exhibitor, Experience Hal
 l Exhibitor
URL:https://asia.siggraph.org/2023/full-program?id=papers_669&sess=sess209
END:VEVENT
END:VCALENDAR