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DTSTAMP:20240214T070242Z
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:Technical Papers, TOG\n\nGuirec Maloisel, Christian Schumacher
 , Espen Knoop, Ruben Grandia, and Moritz Bächer (Disney Research)\n\nThe k
 inematic motion of a robotic character is defined by its mechanical joints
  and actuators that restrict the relative motion of its rigid components. 
 Designing robots that perform a given target motion as closely as possible
  with a fixed number of actuated degrees of freedom is challenging, especi
 ally for robots that form kinematic loops. In this paper, we propose a tec
 hnique that simultaneously solves for optimal design and control parameter
 s for a robotic character whose design is parameterized with configurable 
 joints. At the technical core of our technique is an efficient solution st
 rategy that uses dynamics programming to solve for optimal state, control,
  and design parameters, together with a strategy to remove redundant const
 raints that commonly exist in general robot assemblies with kinematic loop
 s. We demonstrate the efficacy of our approach by either editing the desig
 n of an existing robotic character, or by optimizing the design of a new c
 haracter to perform a desired motion.\n\nRegistration Category: Full Acces
 s\n\nSession Chair: Ioannis Karamouzas (Clemson University, University of 
 California Riverside)
URL:https://asia.siggraph.org/2023/full-program?id=papers_939&sess=sess160
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