Computational Robotics Lab
ETH Zurich

Publications


Fabrication, Modeling, and Control of Plush Robots
James M. Bern, Grace Kumagai, Stelian Coros
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017.
      PDF       video
Generating Gaits for Simultaneous Locomotion and Manipulation
Julian Whitman, Shuang Su, Stelian Coros, Alex Ansari, and Howie Choset
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017.
      PDF       video
Joint Optimization of Robot Design and Motion Parameters using the Implicit Function Theorem
Sehoon Ha, Stelian Coros, Alexander Alspach, Joohyung Kim and Katsu Yamane
Robotics: Science and Systems (RSS 2017) (Best Paper Finalist)
      project page
Interactive Design of Animated Plushies
James Bern, Kai-Hung Chang, Stelian Coros
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2017).
      PDF       video
A Computational Design Tool for Compliant Mechanisms
Vittorio Megaro, Jonas Zehnder, Moritz Bacher, Stelian Coros, Markus Gross, Bernhard Thomaszewski
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2017).
      project page
Computational Design of Telescoping Structures
Christopher Yu, Keenan Crane, Stelian Coros
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2017).
      project page
Computational Abstractions for Interactive Design of Robotic Devices
Ruta Desai, Ye Yuan, Stelian Coros
IEEE International Conference on Robotics and Automation, 2017.
      PDF (coming soon)       video (coming soon)
Quadrupedal Locomotion using Trajectory Optimization and Hierarchical Whole Body Control
Christian Gehring, C. Dario Bellicoso, Peter Fankhauser, Stelian Coros, Marco Hutter
IEEE International Conference on Robotics and Automation, 2017.
      PDF (coming soon)       video (coming soon)
Designing structurally-sound ornamental curve networks.
Jonas Zehnder, Stelian Coros, Bernhard Thomaszewski
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2016).
      project page
Practice Makes Perfect: An Optimization-Based Approach to Controlling Agile Motions for a Quadruped Robot
Christian Gehring, Stelian Coros, Marco Hutter, C. Dario Bellicoso, Huub Heijnen, Remo Diethelm, Michael Bloesch, Péter Fankhauser, Jemin Hwangbo, Markus A. Hoepflinger, Roland Siegwart
IEEE Robotics And Automation Magazine, 2016 (Best Paper Award)
      PDF
PRECISION: Precomputing Environment Semantics for Contact-Rich Character Animation.
Mubbasir Kapadia, Xu Xianghao, Maurizio Nitti, Marcelo Kallmann, Stelian Coros, Bob Sumner, Markus Gross
ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games (i3D), 2016
      project page
Task-based limb optimization for legged robots
Sehoon Ha, Stelian Coros, Alexander Alspach, Joohyung Kim, Katsu Yamane
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016.
      project page
Reprise: A Design Tool for Specifying, Generating, and Customizing 3D Printable Adaptations on Everyday Objects
Xiang 'Anthony' Chen, Stelian Coros, Jennifer Mankoff, Scott E. Hudson
ACM User Interface Software and Technology Symposium (UIST 2016).
      PDF       video
Interactive Design of 3D Printable Robotic Creatures
Vittorio Megaro, Bernhard Thomaszewski, Maurizio Nitti, Otmar Hilliges, Markus Gross, Stelian Coros
ACM Transactions on Graphics (Proc. ACM SIGGRAPH ASIA 2015).
      project page
Interactive Surface Design with Interlocking Elements
Melina Skouras, Stelian Coros, Eitan Grinspun, Bernhard Thomaszewski
ACM Transactions on Graphics (Proc. ACM SIGGRAPH ASIA 2015).
      project page
Dynamic Trotting on Slopes for Quadrupedal Robots
Christian Gehring, Carmine Dario Bellicoso, Stelian Coros, Michael Bloesch, Peter Fankhauser, Marco Hutter, Roland Siegwart
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015.
      PDF       video
Encore: 3D Printed Augmentation of Everyday Objects with Printed-Over, Affixed and Interlocked Attachments
Xiang 'Anthony' Chen, Stelian Coros, Jennifer Mankoff, Scott E. Hudson
ACM User Interface Software and Technology Symposium (UIST 2015).
      project page
LinkEdit: Interactive Linkage Editing using Symbolic Kinematics
M. Bächer, S. Coros, B. Thomaszewski
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2015).
      project page
Design and Fabrication of Flexible Rod Meshes
J. Perez, B. Thomaszewski, S. Coros, B. Bickel, J. A. Canabal, R. Sumner, M. A. Otaduy
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2015).
      project page
Hierarchical Planning and Control for Complex Motor Tasks
Daniel Zimmermann, Stelian Coros, Yuting Ye, Robert Sumner, Markus Gross
ACM/Eurographics Symposium on Computer Animation (SCA), 2015.
      PDF       video
Sketch Abstractions for Character Posing
F. Hahn, F. Mutzel, S. Coros, B. Thomaszewski, M. Nitti, M. Gross, R. Sumner
ACM/Eurographics Symposium on Computer Animation (SCA), 2015.
      project page
Computational Design of Walking Automata
Gaurav Bharaj, Stelian Coros, Bernhard Thomaszewski, James Tompkin, Bernd Bickel, Hanspeter Pfister
ACM/Eurographics Symposium on Computer Animation (SCA), 2015.
      project page
Computational Design of Linkage-Based Characters
Bernhard Thomaszewski, Stelian Coros, Damien Gauge, Vittorio Megaro, Eitan Grinspun, Markus Gross
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2014).
      PDF       video
Subspace Clothing Simulation Using Adaptive Bases
Fabian Hahn, Bernhard Thomaszewski, Stelian Coros, Robert W. Sumner, Forrester Cole, Mark Meyer, Tony DeRose, Markus Gross
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2014).
      PDF       video
Interactive Design of Modular Tensegrity Characters
Damien Gauge, Stelian Coros, Sandro Mani, Bernhard Thomaszewski
ACM/Eurographics Symposium on Computer Animation (SCA), 2014
      PDF       video
ChaCra: An Interactive Design System for Rapid Character Crafting
Vittorio Megaro, Bernhard Thomaszewski, Eitan Grinspun, Stelian Coros, Markus Gross
ACM/Eurographics Symposium on Computer Animation (SCA), 2014
      PDF       video
Hierarchical Motion Brushes for Animation Instancing
Antoine Milliez, Gioacchino Noris, Ilya Baran, Stelian Coros, Marie-Paule Cani, Maurizio Nitti, Alessia Marra, Markus Gross, Robert W. Sumner
International Symposium on Non-Photorealistic Animation and Rendering (NPAR) 2014.
      project page
Towards Automatic Discovery of Agile Gaits for Quadrupedal Robots
Christian Gehring, Stelian Coros, Marco Hutter, Michael Bloesch, Peter Fankhauser, Mark Hoepflinger, Roland Siegwart
IEEE International Conference on Robotics and Automation, 2014.
      PDF       video
Concurrent Optimization of Mechanical Design and Locomotion Control of a Legged Robot
K. M. Digumarti, C. Gehring, S. Coros, J. Hwangbo, R. Siegwart
Climbing and Walking Robots (CLAWAR), 2014.
      PDF
Computational Design of Mechanical Characters
Stelian Coros, Bernhard Thomaszewski, Gioacchino Noris, Shinjiro Sueda, Moira Forberg, Robert W. Sumner, Wojciech Matusik, Bernd Bickel
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2013).
      PDF       video
Computational Design of Actuated Deformable Characters
Melina Skouras, Bernhard Thomaszewski, Stelian Coros, Bernd Bickel, Markus Gross
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2013).
      PDF       video
Efficient Simulation of Secondary Motion in Rig-Space
F. Hahn, B. Thomaszewski, S. Coros, R. Sumner, M. Gross
ACM/Eurographics Symposium on Computer Animation (SCA), 2013
      PDF       video
Control of Dynamic Gaits for a Quadrupedal Robot
Christian Gehring, Stelian Coros, Marco Hutter, Michael Bloesch, Mark Hoepflinger, Roland Siegwart
IEEE International Conference on Robotics and Automation, 2013.
      PDF       video
Computational Design and Motion Control for Characters in the Real World
S. Coros
Motion In Games, 2013
      PDF
Deformable Objects Alive!
Stelian Coros, Sebastian Martin, Bernhard Thomaszewski, Christian Schumacher, Robert Sumner, Markus Gross
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2012).
      PDF       video (52 MB)
Rig-Space Physics
Fabian Hahn, Sebastian Martin, Bernhard Thomaszewski, Robert Sumner, Stelian Coros, Markus Gross
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2012).
      PDF       video (107 MB)
Smart Scribbles for Sketch Segmentation
Gioacchino Noris, Daniel Sykora, A. Shamir, Stelian Coros, Brian Whited, Maryann Simmons, Alexander Hornung, Markus H. Gross, Robert W. Sumner
Computer Graphics Forum 31(8)
      PDF       video (107 MB)
Efficient Simulation of Example-Based Materials
Christian Schumacher, Bernhard Thomaszewski, Stelian Coros, Sebastian Martin, Robert Sumner, Markus Gross
ACM/Eurographics Symposium on Computer Animation (SCA), 2012
      PDF       video (27 MB)
Manufacturing Layered Attenuators for Multiple Prescribed Shadow Images
Ilya Baran, Philipp Keller, Derek Bradley, Stelian Coros, Wojciech Jarosz, Derek Nowrouzezahrai, Markus Gross
Computer Graphics Forum (Proceedings of Eurographics 2012)
      project page
Locomotion Skills for Simulated Quadrupeds
Stelian Coros, Andrej Karpathy, Benjamin Jones, Lionel Reveret, Michiel van de Panne
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2011).
      project page
Temporal Noise Control for Sketchy Animations
Gioacchino Noris, Daniel Sykora, Stelian Coros, Brian Whited, Maryann Simmons, Alexander Hornung, Markus Gross, Robert Sumner
International Symposium on Non-Photorealistic Animation and Rendering (NPAR) 2011.
      project page
Generalized Biped Walking Control
Stelian Coros, Philippe Beaudoin, Michiel van de Panne
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2010).
      project page
Robust Task-based Control Policies for Physics-based Characters
Stelian Coros, Philippe Beaudoin, Michiel van de Panne
ACM Transactions on Graphics (Proc. ACM SIGGRAPH ASIA 2009).
      project page       code for SIMBICON controller editor and simulation
Synthesis of Constrained Walking Skills
Stelian Coros, Philippe Beaudoin, KangKang Yin, and Michiel van de Panne.
ACM Transactions on Graphics (Proc. ACM SIGGRAPH ASIA 2008).      
      project page
Continuation Methods for Adapting Simulated Skills
KangKang Yin, Stelian Coros, Philippe Beaudoin, Michiel van de Panne
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2008)
      project page     PDF (7 pages, 3.2 Mb)       video (37 Mb)
Motion-Motif Graphs.
Philippe Beaudoin, Michiel van de Panne, Pierre Poulin and Stelian Coros.
ACM/EG Symposium on Computer Animation 2008.
      PDF (10 pages, 1.3 MB)       video (30 MB)       PDF of Large Graph (200 Kb)