Publications

2020

ADD: Analytically Differentiable Dynamics for Multi-Body Systems with Frictional Contact

Moritz Geilinger, David Hahn, Jonas Zehnder, Moritz Bächer, Bernhard Thomaszewski, Stelian Coros
ACM Transactions on Graphics (Proc. ACM SIGGRAPH Asia 2020)
PDF Video

A Harmonic Balance Approach for Designing Compliant Mechanical Systems with Nonlinear Periodic Motions

Pengbin Tang, Jonas Zehnder, Stelian Coros, Bernhard Thomaszewski
ACM Transactions on Graphics (Proc. ACM SIGGRAPH Asia 2020)
PDF Video

RobotSculptor: Artist-Directed Robotic Clay Sculpting

Zhao Ma, Simon Duenser, Christian Schumacher, Romana Rust, Moritz Baecher, Fabio Gramazio, Matthias Kohler, Stelian Coros
ACM Symposium on Computational Fabrication, 2020
PDF Video

RoboCut: Hot-wire Cutting with Robot-controlled Flexible Rods

Simon Duenser, Roi Poranne, Bernhard Thomaszewski, Stelian Coros
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2020)
PDF Video

Computational Design of Balanced Open Link Planar Mechanisms with Counterweights from User Sketches

T. Takahashi, H. G. Okuno, S. Sugano, S. Coros, B. Thomaszewski
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020 (Best Paper Award)
PDF

A multi-level optimization framework for simultaneous grasping and motion planning

Simon Zimmermann, Ghazal Hakimifard, Miguel Zamora Roi Poranne, Stelian Coros
IEEE Robotics And Automation Letters (RA-L), 2020
PDF Video

A Computational Framework for Skilled Legged-wheeled Robots

Moritz Geilinger, Sebastian Winberg, Stelian Coros
IEEE Robotics And Automation Letters (RA-L), 2020
PDF Video

Trajectory optimization for a class of robots belonging to the Constrained Collaborative Mobile Agents (CCMA) family

Nitish Kumar, Stelian Coros
IEEE International Conference on Robotics and Automation (ICRA), 2020
PDF Video

Soft Robot Control With a Learned Differentiable Model

James M. Bern, Yannick Schnider, Pol Banzet, Nitish Kumar and Stelian Coros
IEEE International Conference on Soft Robotics (RoboSoft), 2020
PDF Video

Automated Design of Robotic Hands for In-Hand Manipulation Tasks

Christopher Hazard, Nancy Pollard, Stelian Coros
International Journal of Humanoid Robotics, 2020
PDF

Design and Control of Foam Hands for Dexterous Manipulation

Dominik Bauer, Cornelia Bauer, Jonathan P. King, Daniele Moro, Kai-Hung Chang, Stelian Coros and Nancy Pollard
International Journal of Humanoid Robotics, 2020
PDF

2019

Real2Sim: Visco-elastic parameter estimation from dynamic motion

David Hahn, Pol Banzet, James M. Bern, Stelian Coros
ACM Transactions on Graphics (Proc. ACM SIGGRAPH Asia 2019)
PDF Video

Computational Design of Statically Balanced Planar Spring Mechanisms

Takuto Takahashi, Jonas Zehnder, Hiroshi G. Okuno, Shigeki Sugano, Stelian Coros, Bernhard Thomaszewski
IEEE Robotics And Automation Letters (RA-L), 2019
PDF Video

An optimization framework for simulation and kinematic control of Constrained Collaborative Mobile Agents (CCMA) systems

Nitish Kumar, Stelian Coros
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019
PDF Video

Trajectory optimization for cable-driven soft robot locomotion

James M. Bern, Pol Banzet, Roi Poranne and Stelian Coros
Robotics: Science and Systems (RSS 2019)
PDF Video

PuppetMaster: Robotic Animation of Marionettes

Simon Zimmermann, Roi Poranne, James Bern, Stelian Coros
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2019)
PDF Video

Vibration-Minimizing Motion Retargeting for Robotic Characters

Shayan Hoshyari, Hongyi Xu, Espen Knoop, Stelian Coros, Moritz Baecher
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2019)
Project Page

Geppetto: Enabling Semantic Design of Expressive Robot Behaviors

Ruta Desai, Fraser Anderson, Justin Matejka, Stelian Coros, James McCann, George Fitzmaurice, Tovi Grossman
ACM Conference on Human Factors in Computing Systems (CHI 2019) (Best Paper Award)
PDF Video

Expanding foam as the material for fabrication, prototyping and experimental assessment of low cost soft robots with embedded sensing

Luca Somm, David Hahn, Nitish Kumar, Stelian Coros
IEEE Robotics And Automation Letters (RA-L), 2019
PDF

2018

Design, Fabrication, and Evaluation of Tendon-Driven Multi-Fingered Foam Hands

Jonathan P. King, Dominik Bauer, Cornelia Schlagenhauf, Kai-Hung Chang, Daniele Moro, Nancy Pollard, Stelian Coros
IEEE-RAS International Conference on Humanoid Robotics (Humanoids), 2018
PDF Video

Control of Tendon-Driven Soft Foam Robot Hands

Cornelia Schlagenhauf, Dominik Bauer, Kai-Hung Chang, Jonathan P. King, Daniele Moro, Stelian Coros, Nancy Pollard
IEEE-RAS International Conference on Humanoid Robotics (Humanoids), 2018
PDF Video

Automated Design of Manipulators For In-Hand Tasks

Christopher Hazard, Nancy Pollard and Stelian Coros
IEEE-RAS International Conference on Humanoid Robotics (Humanoids), 2018. (Best Paper Finalist)
PDF Video

Bend-It: Design and Fabrication of Kinetic Wire Characters

Hongyi Xu, Espen Knoop, Stelian Coros, Moritz Baecher
ACM Transactions on Graphics (Proc. ACM SIGGRAPH Asia 2018)
Project Page

Interactive Robotic Manipulation of Elastic Objects

Simon Duenser, James Bern, Roi Poranne, Stelian Coros
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018
PDF Video

Assembly-aware Design for Electromechanical Devices

Ruta Desai, James McCann, Stelian Coros
ACM User Interface Software and Technology Symposium (UIST 2018)
PDF Video

Computational Design of Robotically Assembled Spatial Structures

Stefana Parascho, Thomas Kohlhammer, Stelian Coros, Fabio Gramazio and Matthias Kohler
Advances in Architectural Geometry, 2018
Project Page

Skaterbots: Optimization-based design and motion synthesis for robotic creatures with legs and wheels

Moritz Geilinger, Roi Poranne, Ruta Desai, Bernhard Thomaszewski, Stelian Coros
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2018)
PDF Video

Computational Co-Optimization of Design Parameters and Motion Trajectories for Robotic Systems

Sehoon Ha, Stelian Coros, Alexander Alspach, Joohyung Kim, Katsu Yamane
The International Journal of Robotics Research, 2018
PDF Video

Computational Design of Robotic Devices from High-Level Motion Specifications

Sehoon Ha, Stelian Coros, Alexander Alspach, James M. Bern, Joohyung Kim, Katsu Yamane
IEEE Transactions on Robotics, 2018
PDF Video

Automatic Machine Knitting of 3D Meshes

Vidya Narayanan, Lea Albaugh, Jessica Hodgins, Stelian Coros, Jim McCann
Transactions on Graphics, 2018
Project Page

Computational Design of Transformables

Ye Yuan, Changxi Zheng, Stelian Coros
ACM/Eurographics Symposium on Computer Animation (SCA), 2018
PDF Video

Designing Coupling Behaviors Using Compliant Shape Optimization

Nurcan Gecer Ulu, Stelian Coros, Levent Burak Kara
Computer-Aided Design, 2018
PDF Video

Biped Controllers for Character Animation

KangKang Yin, Stelian Coros, Michiel van de Panne
In Handbook of Human Motion, 2018

Forte: User-Driven Generative Design

Xiang 'Anthony' Chen, Ye Tao, Guanyun Wang, Runchang Kang, Tovi Grossman, Stelian Coros, Scott Hudson
ACM Conference on Human Factors in Computing Systems (CHI 2018)
Project Page

Medley: A Library of Embeddables to Explore Rich Material Properties for 3D Printed Objects

Xiang 'Anthony' Chen, Stelian Coros, Scott Hudson
ACM Conference on Human Factors in Computing Systems (CHI 2018)
Project Page

2017

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 Video

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

2016

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

2015

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

2014

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

2013

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

2012

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

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

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

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

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

2011

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

2010

Generalized Biped Walking Control

Stelian Coros, Philippe Beaudoin, Michiel van de Panne
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2010)
Project Page

2009

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

2008

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 Video

Motion-Motif Graphs

Philippe Beaudoin, Michiel van de Panne, Pierre Poulin and Stelian Coros
ACM/EG Symposium on Computer Animation 2008
PDF Video PDF of Large Graph