Computational Design of Compliant, Dynamical Robots - Cynthia Sung

This seminar presents computational approaches for designing compliant and origami-inspired robots for dynamic tasks. It covers topology optimization, geometry-tuned mechanical response, physical validation, compositional design, and the interaction between robot structure and actuation.

Syllabus

Introduction.
Computational Robot Design.
Topology Optimization.
Hybrid Aerial Vehicles.
Hybrid Aerial Vehicle: System Overview.
Soft Arm Optimization.
Physical Validation.
Design Composition.
Tuning Mechanics via Geometry.
Hopping on Different Terrain Types.
Origami-Inspired Fabrication.
Energy Storage for Origami Jumpers.
Compositional Design Strategy.
Compositional Design of Kinetic Origami Robots.
Compactness.
Robot Design Approach.
Control/Design for Serial Robots with Tunable Stiffness.
Next Steps: Task Specification.
Next Steps: Actuation.