Designing Cable-Driven Actuation Networks for Kinematic Chains and Trees

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dc.contributor.authorMegaro, Vittorioen_US
dc.contributor.authorKnoop, Espenen_US
dc.contributor.authorSpielberg, Andrewen_US
dc.contributor.authorLevin, David I.W.en_US
dc.contributor.authorMatusik, Wojciechen_US
dc.contributor.authorGross, Markusen_US
dc.contributor.authorThomaszewski, Bernharden_US
dc.contributor.authorBächer, Moritzen_US
dc.contributor.editorBernhard Thomaszewski and KangKang Yin and Rahul Narainen_US
dc.date.accessioned2017-12-31T10:45:26Z
dc.date.available2017-12-31T10:45:26Z
dc.date.issued2017
dc.description.abstractIn this paper we present an optimization-based approach for the design of cable-driven kinematic chains and trees. Our system takes as input a hierarchical assembly consisting of rigid links jointed together with hinges. The user also specifies a set of target poses or keyframes using inverse kinematics. Our approach places torsional springs at the joints and computes a cable network that allows us to reproduce the specified target poses. We start with a large set of cables that have randomly chosen routing points and we gradually remove the redundancy. Then we refine the routing points taking into account the path between poses or keyframes in order to further reduce the number of cables and minimize required control forces. We propose a reduced coordinate formulation that links control forces to joint angles and routing points, enabling the co-optimization of a cable network together with the required actuation forces. We demonstrate the efficacy of our technique by designing and fabricating a cable-driven, animated character, an animatronic hand, and a specialized gripper.en_US
dc.description.sectionheadersPapers V: Rigid Bodies, Chains & Trees
dc.description.seriesinformationEurographics/ ACM SIGGRAPH Symposium on Computer Animation
dc.identifier.doi10.1145/3099564.3099576
dc.identifier.isbn978-1-4503-5091-4
dc.identifier.issn1727-5288
dc.identifier.pagesVittorio Megaro, Espen Knoop, Andrew Spielberg, David I.W. Levin, Wojciech Matusik, Markus Gross, Bernhard Thomaszewski, and Moritz Bächer-Computing methodologies - Animation; Physical simulation;
dc.identifier.urihttps://doi.org/10.1145/3099564.3099576
dc.identifier.urihttps://diglib.eg.org:443/handle/10.1145/3099564-3099576
dc.publisherACMen_US
dc.subjectComputing methodologies
dc.subjectAnimation
dc.subjectPhysical simulation
dc.subject
dc.titleDesigning Cable-Driven Actuation Networks for Kinematic Chains and Treesen_US
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SCA 17: Eurographics/SIGGRAPH Symposium on Computer Animation