Computational Robotics

MakeSense: Automated Sensor Design for Proprioceptive Soft Robots

A computational method for augmenting soft robots with proprioceptive sensing capabilities.

Simulation-Ready Characterization of Soft Robotic Materials

An inverse finite element approach that enables the simulation-ready characterization of soft robotic materials from uniaxial test data.

Vibration-minimizing Motion Retargeting for Robotic Characters

An optimization-based, dynamics-aware motion retargeting system that adjusts an input motion such that visually salient low-frequency, large amplitude vibrations are suppressed.

Bend-It: Design and Fabrication of Kinetic Wire Characters

A computational technique for the design of elastically deforming kinetic wire characters, tailored for fabrication on consumer-grade CNC bending machines.

Designing Cable-Driven Actuation Networks for Kinematic Chains and Trees

An optimization-based approach for the design of cable-driven kinematic chains and trees.

LinkEdit: Interactive Linkage Editing using Symbolic Kinematics

A method for the interactive editing of planar linkages.