Abstract: A system providing dynamic balancing in a robotic system. The system includes memory storing a definition of a robot and storing an input animation for the robot specifying motion of components of the robot. A simulator performs a dynamic simulation of the robot performing the input animation including modeling a first set of the components as flexible components and a second set of the components as rigid components. Each of the flexible components is coupled at opposite ends to one of the rigid components. An optimizer generates a retargeted motion for the components to provide dynamic balancing of the robot performing the retargeted motion. The optimizer generates the retargeted motion by transforming forces acting on the robot to a local contact frame rigidly moving with the robot. The optimizer generates the retargeted motion so a zero-moment point of the robot lies in a support area of the robot's feet.

Abstract: A system for performing simulation-based material characterization includes a computing platform having a hardware processor and a system memory storing a software code. The hardware processor executes the software code to obtain a result of a physical test performed on a material, selects a parameterized model of the material based on the obtained result, and performs a simulation of the physical test using the parameterized model to generate a simulated result. The hardware processor further executes the software code to compare the simulated result with the obtained result of the physical test on the material, and adjusts one or more parameter value(s) of the parameterized model, based on the comparison, to improve the simulated result, and predict, after adjusting the parameter value(s), one or more characteristics of the material based on the parameterized model.

Abstract: An automated mechanical design analysis system includes a computing platform having a hardware processor and a system memory storing a software code. The hardware processor executes the software code to receive an input model of a mechanical object, identify one or more design parameter(s) of the input model for automated analysis, and perform a parametric mapping of the input model based on the design parameter(s) to produce a parameterized model corresponding to the input model. The hardware processor further executes the software code to embed the parameterized model in a grid to produce model-grid intersections defining multiple subvolumes of the parameterized model, and generate a simulation of the input model based on the model-grid intersections and the subvolumes, where the simulation of the input model provides a differentiable mathematical representation of the input model.

Abstract: A 3D printer system with a structural optimization tool to generate 3D models optimized for build materials such as those used in binder jetting technology-based printers. The structural optimization tool uses a computational approach to optimize mechanical and mass properties of large-scale structures (i.e., objects to be 3D printed), and the computational approach is tailored for fabrication on binder jetting technologies. To spend a material budget for printing an object wisely, the inventors in designing the computational approach turned the Bresler-Pister failure criterion into an objective measuring the potential of failure of an object or structure. This involved modeling the difference in tensile and compressive strength of the build material. To optimize structures under worst-case loads, the computational approach unifies an optimization to identify worst-case loads with an optimization to minimize the resulting failure potential, nesting them with first-order optimality constraints.

Abstract: A robot control method, and associated robot controllers and robots operating with such methods and controllers, providing computational vibration suppression. Given a desired animation cycle for a robotic system or robot, the control method uses a dynamic simulation of the physical robot, which takes into account the flexible components of the robot, to predict if vibrations will be seen in the physical robot. If vibrations are predicted with the input animation cycle, the control method optimizes the set of motor trajectories to return a set of trajectories that are as close as possible to the artistic or original intent of the provider of the animation cycle, while minimizing unwanted vibration. The new control method or design tool suppresses unwanted vibrations and allows a robot designer to use lighter and/or softer (less stiff) and, therefore, less expensive systems in new robots.

Abstract: A 3D printer system with a structural optimization tool to generate 3D models optimized for build materials such as those used in binder jetting technology-based printers. The structural optimization tool uses a computational approach to optimize mechanical and mass properties of large-scale structures (i.e., objects to be 3D printed), and the computational approach is tailored for fabrication on binder jetting technologies. To spend a material budget for printing an object wisely, the inventors in designing the computational approach turned the Bresler-Pister failure criterion into an objective measuring the potential of failure of an object or structure. This involved modeling the difference in tensile and compressive strength of the build material. To optimize structures under worst-case loads, the computational approach unifies an optimization to identify worst-case loads with an optimization to minimize the resulting failure potential, nesting them with first-order optimality constraints.

Abstract: Embodiments herein describe deformable controllers that rely on piezoelectric material embedded in the controllers to detect when the input device is being manipulated into a particular deformation or gesture. The computing system may perform different actions depending on which deformation is detected. The embodiments herein describe design techniques for optimizing the placement of the piezoelectric material in the controller to improve the accuracy of a mapping function that maps sensor responses of the material to different controller deformations. In one embodiment, the user specifies the different deformations of the controller she wishes to be recognized by the computing system (e.g., raising a leg, twisting a torso, squeezing a hand, etc.). The design optimizer uses the locations of the desired deformations to move the location of the piezoelectric material such that the sensor response of the material can be uniquely mapped to these locations.

Abstract: Embodiments herein describe deformable controllers that rely on piezoelectric material embedded in the controllers to detect when the input device is being manipulated into a particular deformation or gesture. The computing system may perform different actions depending on which deformation is detected. The embodiments herein describe design techniques for optimizing the placement of the piezoelectric material in the controller to improve the accuracy of a mapping function that maps sensor responses of the material to different controller deformations. In one embodiment, the user specifies the different deformations of the controller she wishes to be recognized by the computing system (e.g., raising a leg, twisting a torso, squeezing a hand, etc.). The design optimizer uses the locations of the desired deformations to move the location of the piezoelectric material such that the sensor response of the material can be uniquely mapped to these locations.

Abstract: Fabrication of a posable physical embodiment from an articulated deformable model is made possible by first transforming a deformable surface volumetric model to a segmented, rigid volume model including identifying a plurality of rigid, linked segments. The rigid volume model approximates the deformable surface volumetric model. Linkage structures (i.e., hinges, ball joints) coupling pairs of the rigid, linked segments are then automatically determined.