Customization and fabrication of the appearance for humanoid robot

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• 作者：Shihui Guo ; Hanxiang Xu ; Nadia Magnenat Thalmann ; Junfeng Yao
• 刊名：The Visual Computer
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：33
• 期：1
• 页码：63-74
• 全文大小：
• 刊物类别：Computer Science
• 刊物主题：Computer Graphics; Computer Science, general; Artificial Intelligence (incl. Robotics); Image Processing and Computer Vision;
• 出版者：Springer Berlin Heidelberg
• ISSN：1432-2315
• 卷排序：33

文摘

Designing a robot’s appearance is a challenging task because the design should be both aesthetically appealing and physically functional. Therefore, this task was previously limited to experts with professional knowledge and experiences. Given the increasing popularity of consumer-level robots, non-professional users are expecting tools that allow them to customize their robot appearance. We address this challenge with the technology of additive manufacturing and propose an end-to-end solution to customize and fabricate the robot appearance for non-professional users. The input to our solution is a triangular character mesh (commonly used in feature animations and video games) and the output is a set of 3D-printing-ready shell parts. The complete solution includes matching the shape of the character mesh with the robot endoskeleton, optimizing the shape design to maximally avoid collisions and adjusting the motion trajectories to adapt to new shell design. This approach requires no professional background in engineering design and efficiently produces accurate prototypes of robot shells. Both virtual and physically printed designs are demonstrated on a consumer level humanoid robot to validate the feasibility of our method.