Differentiable Soft-Robot Generation

Cochevelou, François; Bonner, David; Schmidt, Martin-Pierre

doi:10.1145/3583131.3590408

Cited by 4 publications

(3 citation statements)

References 24 publications

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“…11a to 11c). In previous works of soft body topology optimization using MPM, a linear function (57,60) and a quartic function (61) were used to interpolate Young's modulus. When extracting surfaces for 3D printing at γ = 0.5 (50% density), it is necessary to ensure that structures contributing to the function are not lost.…”

Section: Topology Optimization Of Soft Materials With Fluid Interactionmentioning

confidence: 99%

“…MPM-based topology optimization was extended to include the design for the layout of multiple actuators and their respective time-series actuation (60). The actuator layout problem has also been studied in (61), considering soft and stiff material distribution. Aside from topology optimization, research has been conducted using the MPM to optimize SoRos moving over various terrains (62).…”

Section: Introductionmentioning

confidence: 99%

“…Aside from topology optimization, research has been conducted using the MPM to optimize SoRos moving over various terrains (62). Since these studies (57,(60)(61)(62) were not intended to be applied to actual SoRos, they did not model practical actuators such as pneumatic actuators. Instead, it is assumed that the robot's soft body itself expands and contracts, which is difficult to realize in the real world.…”

Section: Introductionmentioning

confidence: 99%

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Computational synthesis of locomotive soft robots by topology optimization

Kobayashi,

Gholami,

Montgomery

et al. 2024

Sci. Adv.

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Locomotive soft robots (SoRos) have gained prominence due to their adaptability. Traditional locomotive SoRo design is based on limb structures inspired by biological organisms and requires human intervention. Evolutionary robotics, designed using evolutionary algorithms (EAs), have shown potential for automatic design. However, EA-based methods face the challenge of high computational cost when considering multiphysics in locomotion, including materials, actuations, and interactions with environments. Here, we present a design approach for pneumatic SoRos that integrates gradient-based topology optimization with multiphysics material point method (MPM) simulations. This approach starts with a simple initial shape (a cube with a central cavity). The topology optimization with MPM then automatically and iteratively designs the SoRo shape. We design two SoRos, one for walking and one for climbing. These SoRos are 3D printed and exhibit the same locomotion features as in the simulations. This study presents an efficient strategy for designing SoRos, demonstrating that a purely mathematical process can produce limb-like structures seen in biological organisms.

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Section: Topology Optimization Of Soft Materials With Fluid Interactionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%