Computational Design of Skinned Quad-Robots

We present a computational design system that assists users to model, optimize, and fabricate quad-robots with soft skins. Our addresses the challenging task of predicting their physical behavior by fully integrating multibody dynamics mechanical skeleton elastic skin. The developed motion control strategy uses an alternating optimization scheme avoid expensive full space time-optimization, interleaving space-time for skeleton, frame-by-frame dynamics. output are motor torques drive robot achieve user prescribed trajectory. also provide collection convenient engineering tools empirical manufacturing guidance support fabrication designed quad-robot. validate feasibility designs generated our through physics simulations physically-fabricated prototype.