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Related Experiment Video

Updated: Jan 2, 2026

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

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Published on: June 10, 2020

Computational Design of Skinned Quad-Robots.

Xudong Feng, Jiafeng Liu, Huamin Wang

IEEE Transactions on Visualization and Computer Graphics

|December 6, 2019

Summary

We developed a computational system for designing soft-skinned quad-robots, integrating mechanics and soft material dynamics for accurate physical behavior prediction and motion control. This enables efficient robot design and fabrication.

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Area of Science:

Robotics
Computational Design
Soft Materials

Background:

Designing robots with soft skins presents challenges in predicting complex physical behaviors.
Integrating mechanical dynamics with soft material properties is crucial for accurate simulation.

Purpose of the Study:

To present a computational design system for modeling, optimizing, and fabricating quad-robots with soft skins.
To address the challenge of predicting the physical behavior of such robots by integrating multibody dynamics and elastic skin behavior.

Main Methods:

A computational design system integrating multibody dynamics of the skeleton and elastic behavior of the soft skin.
An alternating optimization scheme for motion control, interleaving space-time and frame-by-frame optimization.
Engineering tools and manufacturing guidance for robot fabrication.

Main Results:

The system successfully predicts the physical behavior of soft-skinned quad-robots.
The motion control strategy generates motor torques for user-prescribed trajectories.
Feasibility validated through physics simulations and a fabricated prototype.

Conclusions:

The presented system offers a comprehensive approach to designing and fabricating soft-skinned quad-robots.
The integrated simulation and control strategy enables efficient design and accurate motion prediction.
The validated prototype demonstrates the practical applicability of the computational design system.