Computational Models of Motion for Fabrication-aware Design of Bioinspired Systems

Project Information

3DPBio

Grant agreement ID: 866480

DOI

10.3030/866480

Project closed

EC signature date 30 January 2020

Start date 1 February 2020

End date 31 January 2025

Funded under

• EXCELLENT SCIENCE - European Research Council (ERC)

Total cost

€ 2 000 000,00

EU contribution

€ 2 000 000,00

Coordinated by

EIDGENOESSISCHE TECHNISCHE HOCHSCHULE ZUERICH
Switzerland

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Publications

Peer reviewed articles (19)

Beyond Chainmail: Computational Modeling of Discrete Interlocking Materials

Author(s): Pengbin Tang, Stelian Coros, Bernhard Thomaszewski
Published in: ACM Transactions on Graphics, Issue 42, 2024, Page(s) 1-12, ISSN 0730-0301
Publisher: Association for Computing Machinary, Inc.
DOI: 10.1145/3592112

Differentiable Voronoi Diagrams for Simulation of Cell-Based Mechanical Systems

Author(s): Logan Numerow, Yue Li, Stelian Coros, Bernhard Thomaszewski
Published in: ACM Transactions on Graphics, Issue 43, 2024, Page(s) 1-11, ISSN 0730-0301
Publisher: Association for Computing Machinary, Inc.
DOI: 10.1145/3658152

Designing actuation systems for animatronic figures via globally optimal discrete search

Author(s): Simon Huber, Roi Poranne, Stelian Coros
Published in: ACM Transactions on Graphics, Issue 40/4, 2021, Page(s) 1-10, ISSN 0730-0301
Publisher: Association for Computing Machinary, Inc.
DOI: 10.1145/3450626.3459867

Learning Solution Manifolds for Control Problems via Energy Minimization

Author(s): Miguel Zamora; Roi Poranne; Stelian Coros
Published in: IEEE Robotics and Automation Letters, Issue 7/3, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3186046

ToRoS: A Topology Optimization Approach for Designing Robotic Skins

Author(s): Juan Montes Maestre, Ronan Hinchet, Stelian Coros, Bernhard Thomaszewski
Published in: ACM Transactions on Graphics, Issue 42, 2024, Page(s) 1-11, ISSN 0730-0301
Publisher: Association for Computing Machinary, Inc.
DOI: 10.1145/3618382

SGN: Sparse Gauss-Newton for Accelerated Sensitivity Analysis

Author(s): Jonas Zehnder, Stelian Coros, Bernhard Thomaszewski
Published in: ACM Transactions on Graphics, Issue 41 / 1, 2022, ISSN 1557-7368
Publisher: ACM
DOI: 10.1145/3470005

Nonlinear Compliant Modes for Large-deformation Analysis of Flexible Structures

Author(s): Simon Duenser; Bernhard Thomaszewski; Roi Poranne; Stelian Coros
Published in: ACM Transactions on Graphics, 42 (2), Issue 2, 2022, ISSN 1557-7368
Publisher: ACM
DOI: 10.1145/3568952

Differentiable Stripe Patterns for Inverse Design of Structured Surfaces

Author(s): Juan Sebastian Montes Maestre, Yinwei Du, Ronan Hinchet, Stelian Coros, Bernhard Thomaszewski
Published in: ACM Transactions on Graphics, Issue 42, 2024, Page(s) 1-14, ISSN 0730-0301
Publisher: Association for Computing Machinary, Inc.
DOI: 10.1145/3592114

No Free Slide: Spurious Contact Forces in Incremental Potential Contact

Author(s): Du, Yinwei; Li, Yue; Coros, Stelian; Thomaszewski, Bernhard
Published in: Computer Graphics Forum, Issue 44, 2024, ISSN 0167-7055
Publisher: Blackwell Publishing Inc.
DOI: 10.48550/arxiv.2308.01696

Neural Metamaterial Networks for Nonlinear Material Design

Author(s): Yue Li, Stelian Coros, Bernhard Thomaszewski
Published in: ACM Transactions on Graphics, Issue 42, 2024, Page(s) 1-13, ISSN 0730-0301
Publisher: Association for Computing Machinary, Inc.
DOI: 10.1145/3618325

Robust and Artefact‐Free Deformable Contact with Smooth Surface Representations

Author(s): Y. Du, Y. Li, S. Coros, B. Thomaszewski
Published in: Computer Graphics Forum, Issue 43, 2024, ISSN 0167-7055
Publisher: Blackwell Publishing Inc.
DOI: 10.1111/cgf.15187

RL + Model-Based Control: Using On-Demand Optimal Control to Learn Versatile Legged Locomotion

Author(s): Dongho Kang, Jin Cheng, Miguel Zamora, Fatemeh Zargarbashi, Stelian Coros
Published in: IEEE Robotics and Automation Letters, Issue 8, 2023, Page(s) 6619-6626, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3307008

Programmable Digital Weaves

Author(s): Yue Li, Juan Montes, Bernhard Thomaszewski, Stelian Coros
Published in: IEEE Robotics and Automation Letters, Issue 7/2, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3145948

A Temporal Coherent Topology Optimization Approach for Assembly Planning of Bespoke Frame Structures

Author(s): Ziqi Wang, Florian Kennel-Maushart, Yijiang Huang, Bernhard Thomaszewski, Stelian Coros
Published in: ACM Transactions on Graphics, Issue 42, 2024, Page(s) 1-13, ISSN 0730-0301
Publisher: Association for Computing Machinary, Inc.
DOI: 10.1145/3592102

FlexScale: Modeling and Characterization of Flexible Scaled Sheets

Author(s): Juan Sebastian Montes Maestre, Yinwei Du, Ronan Hinchet, Stelian Coros, Bernhard Thomaszewski
Published in: ACM Transactions on Graphics, Issue 43, 2024, Page(s) 1-14, ISSN 0730-0301
Publisher: Association for Computing Machinary, Inc.
DOI: 10.1145/3658175

Singularity-Aware Design Optimization for Multi-Degree-of-Freedom Spatial Linkages

Author(s): Guirec Maloisel, Espen Knoop, Bernhard Thomaszewski, Moritz Bacher, Stelian Coros
Published in: IEEE Robotics and Automation Letters, Issue 6/4, 2021, Page(s) 6585-6592, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3095043

Optimal Design of Flexible-Link Mechanisms With Desired Load-Displacement Profiles

Author(s): Guirec Maloisel, Espen Knoop, Christian Schumacher, Bernhard Thomaszewski, Moritz Bächer, Stelian Coros
Published in: IEEE Robotics and Automation Letters, Issue 8, 2023, Page(s) 4203-4210, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2023.3281289

ADD

Author(s): Moritz Geilinger, David Hahn, Jonas Zehnder, Moritz Bächer, Bernhard Thomaszewski, Stelian Coros
Published in: ACM Transactions on Graphics, Issue 39/6, 2020, Page(s) 1-15, ISSN 0730-0301
Publisher: Association for Computing Machinary, Inc.
DOI: 10.1145/3414685.3417766

A harmonic balance approach for designing compliant mechanical systems with nonlinear periodic motions

Author(s): Pengbin Tang, Jonas Zehnder, Stelian Coros, Bernhard Thomaszewski
Published in: ACM Transactions on Graphics, Issue 39/6, 2020, Page(s) 1-14, ISSN 0730-0301
Publisher: Association for Computing Machinary, Inc.
DOI: 10.1145/3414685.3417765

Conference proceedings (7)

Animal Motions on Legged Robots Using Nonlinear Model Predictive Control

Author(s): Kang, Dongho; De Vincenti, Flavio; Adami, Naomi C.; Coros, Stelian
Published in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 1, 2022
Publisher: IEEE
DOI: 10.1109/iros47612.2022.9981945

Control-Aware Design Optimization for Bio-Inspired Quadruped Robots

Author(s): Flavio De Vincenti, Dongho Kang, Stelian Coros
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, ISBN 978-1-6654-1714-3
Publisher: IEEE
DOI: 10.1109/iros51168.2021.9636415

Animal Gaits on Quadrupedal Robots Using Motion Matching and Model-Based Control

Author(s): Kang, Dong Ho; Zimmermann, Simon; Coros, Stelian
Published in: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 2, 2021
Publisher: IEEE
DOI: 10.1109/iros51168.2021.9635838

NTopo: Mesh-free Topology Optimization using Implicit Neural Representations

Author(s): Jonas Zehnder, Yue Li, Stelian Coros, Bernhard Thomaszewski
Published in: Advances in Neural Information Processing Systems 34 (NeurIPS 2021), 2022
Publisher: Curran Associates, Inc.

Deep Compliant Control for Legged Robots

Author(s): Adrian Hartmann, Dongho Kang, Fatemeh Zargarbashi, Miguel Zamora, Stelian Coros
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), Issue 22, 2024, Page(s) 11421-11427
Publisher: IEEE
DOI: 10.1109/icra57147.2024.10611209

Tuning Legged Locomotion Controllers via Safe Bayesian Optimization

Author(s): Widmer, Daniel; Kang, Dongho; Sukhija, Bhavya; Hübotter, Jonas; Krause, Andreas; Coros, Stelian
Published in: Proceedings of The 7th Conference on Robot Learning, Issue 6, 2023, ISSN 1938-7228
Publisher: NA
DOI: 10.48550/arxiv.2306.07092

RobotKeyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards

Author(s): Fatemeh Zargarbashi, Jin Cheng, Dongho Kang, Robert Sumner, Stelian Coros
Published in: Conference on Robot Learning (CoRL), 2024
Publisher: NA