/Computational Abstractions for Interactive Design of Robotic Devices

Computational Abstractions for Interactive Design of Robotic Devices

Ruta Desai, Ye Yuan and Stelian Coros
Conference Paper, 2017 IEEE International Conference on Robotics and Automation (ICRA), May, 2017

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We present a computational design system that allows novices and experts alike to easily create custom robotic devices using modular electromechanical components. The core of our work consists of a design abstraction that models the way in which these components can be combined to form complex robotic systems. We use this abstraction to develop a visual design environment that enables an intuitive exploration of the space of robots that can be created using a given set of actuators, mounting brackets and 3d-printable components. Our computational system also provides support for design auto-completion operations, which further simplifies the task of creating robotic devices. Once robot designs are finished, they can be tested in physical simulations and iteratively improved until they meet the individual needs of their users. We demonstrate the versatility of our computational design system by creating an assortment of legged and wheeled robotic devices. To test the physical feasibility of our designs, we fabricate a wheeled device equipped with a 5-DOF arm and a quadrupedal robot.

BibTeX Reference
author = {Ruta Desai and Ye Yuan and Stelian Coros},
title = {Computational Abstractions for Interactive Design of Robotic Devices},
booktitle = {2017 IEEE International Conference on Robotics and Automation (ICRA)},
year = {2017},
month = {May},
publisher = {IEEE},
keywords = {Automatic design, computational tools, digital fabrication, interactive systems, educational tools, guided design, physical simulation},