---
_id: '9408'
abstract:
- lang: eng
  text: We present a computational design system that assists users to model, optimize,
    and fabricate quad-robots with soft skins. Our system addresses the challenging
    task of predicting their physical behavior by fully integrating the multibody
    dynamics of the mechanical skeleton and the elastic behavior of the soft skin.
    The developed motion control strategy uses an alternating optimization scheme
    to avoid expensive full space time-optimization, interleaving space-time optimization
    for the skeleton, and frame-by-frame optimization for the full dynamics. The output
    are motor torques to drive the robot to achieve a user prescribed motion trajectory.
    We also provide a collection of convenient engineering tools and empirical manufacturing
    guidance to support the fabrication of the designed quad-robot. We validate the
    feasibility of designs generated with our system through physics simulations and
    with a physically-fabricated prototype.
acknowledgement: The authors would like to thank anonymous reviewers for their constructive
  comments. Weiwei Xu is partially supported by Zhejiang Lab. Yin Yang is partially
  spported by NSF under Grant Nos. CHS 1845024 and 1717972. Weiwei Xu and Hujun Bao
  are supported by Fundamental Research Funds for the Central Universities. This project
  has received funding from the European Research Council (ERC) under the European
  Unions Horizon 2020 research and innovation programme (Grant agreement No 715767).
article_number: 2881-2895
article_processing_charge: No
author:
- first_name: Xudong
  full_name: Feng, Xudong
  last_name: Feng
- first_name: Jiafeng
  full_name: Liu, Jiafeng
  last_name: Liu
- first_name: Huamin
  full_name: Wang, Huamin
  last_name: Wang
- first_name: Yin
  full_name: Yang, Yin
  last_name: Yang
- first_name: Hujun
  full_name: Bao, Hujun
  last_name: Bao
- first_name: Bernd
  full_name: Bickel, Bernd
  id: 49876194-F248-11E8-B48F-1D18A9856A87
  last_name: Bickel
  orcid: 0000-0001-6511-9385
- first_name: Weiwei
  full_name: Xu, Weiwei
  last_name: Xu
citation:
  ama: Feng X, Liu J, Wang H, et al. Computational design of skinned Quad-Robots.
    <i>IEEE Transactions on Visualization and Computer Graphics</i>. 2021;27(6). doi:<a
    href="https://doi.org/10.1109/TVCG.2019.2957218">10.1109/TVCG.2019.2957218</a>
  apa: Feng, X., Liu, J., Wang, H., Yang, Y., Bao, H., Bickel, B., &#38; Xu, W. (2021).
    Computational design of skinned Quad-Robots. <i>IEEE Transactions on Visualization
    and Computer Graphics</i>. IEEE. <a href="https://doi.org/10.1109/TVCG.2019.2957218">https://doi.org/10.1109/TVCG.2019.2957218</a>
  chicago: Feng, Xudong, Jiafeng Liu, Huamin Wang, Yin Yang, Hujun Bao, Bernd Bickel,
    and Weiwei Xu. “Computational Design of Skinned Quad-Robots.” <i>IEEE Transactions
    on Visualization and Computer Graphics</i>. IEEE, 2021. <a href="https://doi.org/10.1109/TVCG.2019.2957218">https://doi.org/10.1109/TVCG.2019.2957218</a>.
  ieee: X. Feng <i>et al.</i>, “Computational design of skinned Quad-Robots,” <i>IEEE
    Transactions on Visualization and Computer Graphics</i>, vol. 27, no. 6. IEEE,
    2021.
  ista: Feng X, Liu J, Wang H, Yang Y, Bao H, Bickel B, Xu W. 2021. Computational
    design of skinned Quad-Robots. IEEE Transactions on Visualization and Computer
    Graphics. 27(6), 2881–2895.
  mla: Feng, Xudong, et al. “Computational Design of Skinned Quad-Robots.” <i>IEEE
    Transactions on Visualization and Computer Graphics</i>, vol. 27, no. 6, 2881–2895,
    IEEE, 2021, doi:<a href="https://doi.org/10.1109/TVCG.2019.2957218">10.1109/TVCG.2019.2957218</a>.
  short: X. Feng, J. Liu, H. Wang, Y. Yang, H. Bao, B. Bickel, W. Xu, IEEE Transactions
    on Visualization and Computer Graphics 27 (2021).
date_created: 2021-05-23T22:01:42Z
date_published: 2021-06-01T00:00:00Z
date_updated: 2023-08-08T13:45:46Z
day: '01'
ddc:
- '000'
department:
- _id: BeBi
doi: 10.1109/TVCG.2019.2957218
ec_funded: 1
external_id:
  isi:
  - '000649620700009'
  pmid:
  - '31804937'
file:
- access_level: open_access
  checksum: a78e6ac94e33ade4ffaea66943d5f7dc
  content_type: application/pdf
  creator: kschuh
  date_created: 2021-05-25T15:08:49Z
  date_updated: 2021-05-25T15:08:49Z
  file_id: '9427'
  file_name: 2021_TVCG_Feng.pdf
  file_size: 6183002
  relation: main_file
  success: 1
file_date_updated: 2021-05-25T15:08:49Z
has_accepted_license: '1'
intvolume: '        27'
isi: 1
issue: '6'
language:
- iso: eng
license: https://creativecommons.org/licenses/by/4.0/
month: '06'
oa: 1
oa_version: Published Version
pmid: 1
project:
- _id: 24F9549A-B435-11E9-9278-68D0E5697425
  call_identifier: H2020
  grant_number: '715767'
  name: 'MATERIALIZABLE: Intelligent fabrication-oriented Computational Design and
    Modeling'
publication: IEEE Transactions on Visualization and Computer Graphics
publication_identifier:
  eissn:
  - '10772626'
  issn:
  - '19410506'
publication_status: published
publisher: IEEE
quality_controlled: '1'
scopus_import: '1'
status: public
title: Computational design of skinned Quad-Robots
tmp:
  image: /images/cc_by.png
  legal_code_url: https://creativecommons.org/licenses/by/4.0/legalcode
  name: Creative Commons Attribution 4.0 International Public License (CC-BY 4.0)
  short: CC BY (4.0)
type: journal_article
user_id: 4359f0d1-fa6c-11eb-b949-802e58b17ae8
volume: 27
year: '2021'
...