---
_id: '1520'
abstract:
- lang: eng
  text: Creating mechanical automata that can walk in stable and pleasing manners
    is a challenging task that requires both skill and expertise. We propose to use
    computational design to offset the technical difficulties of this process. A simple
    drag-and-drop interface allows casual users to create personalized walking toys
    from a library of pre-defined template mechanisms. Provided with this input, our
    method leverages physical simulation and evolutionary optimization to refine the
    mechanical designs such that the resulting toys are able to walk. The optimization
    process is guided by an intuitive set of objectives that measure the quality of
    the walking motions. We demonstrate our approach on a set of simulated mechanical
    toys with different numbers of legs and various distinct gaits. Two fabricated
    prototypes showcase the feasibility of our designs.
author:
- first_name: Gaurav
  full_name: Bharaj, Gaurav
  last_name: Bharaj
- first_name: Stelian
  full_name: Coros, Stelian
  last_name: Coros
- first_name: Bernhard
  full_name: Thomaszewski, Bernhard
  last_name: Thomaszewski
- first_name: James
  full_name: Tompkin, James
  last_name: Tompkin
- first_name: Bernd
  full_name: Bickel, Bernd
  id: 49876194-F248-11E8-B48F-1D18A9856A87
  last_name: Bickel
  orcid: 0000-0001-6511-9385
- first_name: Hanspeter
  full_name: Pfister, Hanspeter
  last_name: Pfister
citation:
  ama: 'Bharaj G, Coros S, Thomaszewski B, Tompkin J, Bickel B, Pfister H. Computational
    design of walking automata. In: ACM; 2015:93-100. doi:<a href="https://doi.org/10.1145/2786784.2786803">10.1145/2786784.2786803</a>'
  apa: 'Bharaj, G., Coros, S., Thomaszewski, B., Tompkin, J., Bickel, B., &#38; Pfister,
    H. (2015). Computational design of walking automata (pp. 93–100). Presented at
    the SCA: ACM SIGGRAPH/Eurographics Symposium on Computer animation, Los Angeles,
    CA, United States: ACM. <a href="https://doi.org/10.1145/2786784.2786803">https://doi.org/10.1145/2786784.2786803</a>'
  chicago: Bharaj, Gaurav, Stelian Coros, Bernhard Thomaszewski, James Tompkin, Bernd
    Bickel, and Hanspeter Pfister. “Computational Design of Walking Automata,” 93–100.
    ACM, 2015. <a href="https://doi.org/10.1145/2786784.2786803">https://doi.org/10.1145/2786784.2786803</a>.
  ieee: 'G. Bharaj, S. Coros, B. Thomaszewski, J. Tompkin, B. Bickel, and H. Pfister,
    “Computational design of walking automata,” presented at the SCA: ACM SIGGRAPH/Eurographics
    Symposium on Computer animation, Los Angeles, CA, United States, 2015, pp. 93–100.'
  ista: 'Bharaj G, Coros S, Thomaszewski B, Tompkin J, Bickel B, Pfister H. 2015.
    Computational design of walking automata. SCA: ACM SIGGRAPH/Eurographics Symposium
    on Computer animation, 93–100.'
  mla: Bharaj, Gaurav, et al. <i>Computational Design of Walking Automata</i>. ACM,
    2015, pp. 93–100, doi:<a href="https://doi.org/10.1145/2786784.2786803">10.1145/2786784.2786803</a>.
  short: G. Bharaj, S. Coros, B. Thomaszewski, J. Tompkin, B. Bickel, H. Pfister,
    in:, ACM, 2015, pp. 93–100.
conference:
  end_date: 2015-08-09
  location: Los Angeles, CA, United States
  name: 'SCA: ACM SIGGRAPH/Eurographics Symposium on Computer animation'
  start_date: 2015-08-07
date_created: 2018-12-11T11:52:30Z
date_published: 2015-08-01T00:00:00Z
date_updated: 2021-01-12T06:51:21Z
day: '01'
department:
- _id: BeBi
doi: 10.1145/2786784.2786803
language:
- iso: eng
month: '08'
oa_version: None
page: 93 - 100
publication_identifier:
  isbn:
  - 978-1-4503-3496-9
publication_status: published
publisher: ACM
publist_id: '5655'
quality_controlled: '1'
scopus_import: 1
status: public
title: Computational design of walking automata
type: conference
user_id: 2DF688A6-F248-11E8-B48F-1D18A9856A87
year: '2015'
...