Computational Models of Motion for Fabrication-aware Design of Bioinspired Systems

2024

Q3T Prisms: A Linear-Quadratic Solid Shell Element for Elastoplastic Surfaces

Juan Sebastian Montes Maestre, Stelian Coros, Bernhard Thomaszewski
SA '24: SIGGRAPH Asia 2024 Conference Papers
Paper

Robust and Artefact-Free Deformable Contact with Smooth Surface Representations

Yinwei Du, Yue Li, Stelian Coros, Bernhard Thomaszewski
Computer Graphics Forum (Proc. ACM/Eurographics Symposium on Computer Animation, SCA '24), 2024
PDF Video

RobotKeyframing: Learning Locomotion with High-Level Objectives via Mixture of Dense and Sparse Rewards

Fatemeh Zargarbashi, Jin Cheng, Dongho Kang, Robert Sumner, Stelian Coros
2024 Conference on Robot Learning (CoRL)
Paper Video

ContourCraft: Learning to Resolve Intersections in Neural Multi-Garment Simulations

Artur Grigorev, Giorgio Becherini, Michael J. Black, Otmar Hilliges, Bernhard Thomaszewski
SIGGRAPH Conference Papers 2024
Paper

Differentiable Voronoi Diagrams for Simulation of Cell-Based Mechanical Systems

Logan Numerow, Yue Li, Stelian Coros, Bernhard Thomaszewski
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2024)
Paper Video Code

FlexScale: Modeling and Characterization of Flexible Scaled Sheets

Juan Sebastian Montes Maestre, Yinwei Du, Ronan Hinchet, Stelian Coros, Bernhard Thomaszewski
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2024)
Paper Video

Differentiable Geodesic Distance for Intrinsic Minimization on Triangle Meshes

Yue Li, Logan Numerow, Bernhard Thomaszewski, Stelian Coros
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2024)
Paper Code Video

2023

ToRoS: A Topology Optimization Approach for Designing Robotic Skins

Juan Sebastian Montes Maestre, Ronan Hinchet, Stelian Coros, Bernhard Thomaszewski
ACM Transactions on Graphics (Proc. ACM SIGGRAPH Asia 2023)
PDF

Neural Metamaterial Networks for Nonlinear Material Design

Yue Li, Stelian Coros, Bernhard Thomaszewski
ACM Transactions on Graphics (Proc. ACM SIGGRAPH Asia 2023)
PDF Video Code

RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion

Dongho Kang, Jin Cheng, Miguel Zamora, Fatemeh Zargarbashi, Stelian Coros
IEEE Robotics And Automation Letters (RA-L), 2023
ArXiv Project Page

Computational Design of 3D-Printable Compliant Mechanisms with Bio-Inspired Sliding Joints

Felipe Velasquez, Bernhard Thomaszewski, and Stelian Coros
2023 IEEE International Conference on Robotics and Automation (ICRA)
PDF Video

Optimal Design of Flexible-Link Mechanisms with Desired Load-Displacement Profiles

Guirec Maloisel, Espen Knoop, Christian Schumacher, Bernhard Thomaszewski, Moritz Bacher, Stelian Coros
IEEE Robotics and Automation Letters
PDF Video

Beyond Chainmail: Computational Modeling of Discrete Interlocking Materials

Pengbin Tang, Stelian Coros, Bernhard Thomaszewski
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2023)
PDF Video Project Page

Differentiable Stripe Patterns for Inverse Design of Structured Surfaces

Juan Sebastian Montes Maestre, Yinwei Du, Ronan Hinchet, Stelian Coros, Bernhard Thomaszewski
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2023)
PDF Video

2022

Nonlinear Compliant Modes for Large-Deformation Analysis of Flexible Structures

Simon Duenser, Bernhard Thomaszewski, Roi Poranne, Stelian Coros
ACM Transactions on Graphics
PDF Video

Computational Design of Active Kinesthetic Garments

V. Vechev, R. Hinchet, S. Coros, B. Thomaszewski, O. Hilliges
ACM UIST, 2022
PDF Video Project

A Second Order Cone Programming Approach for Simulating Biphasic Materials

P. Tang, S. Coros, B. Thomaszewski
Computer Graphics Forum (Proc. ACM/Eurographics Symposium on Computer Animation, SCA '22), 2022
PDF Video

Stability-Aware Simplification of Curve Networks

W. Neveu, I. Puhachov, B. Thomaszewski, M. Bessmeltsev
ACM SIGGRAPH 2022 Proceedings
PDF Project

Computational Design of Kinesthetic Garments

V. Vechev, J. Zarate, B. Thomaszewski, O. Hilliges
Computer Graphics Forum (Proc. Eurographics '22), 2022
PDF Video

Differentiable Collision Avoidance Using Collision Primitives

Simon Zimmermann, Matthias Busenhart, Simon Huber, Roi Poranne, Stelian Coros
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
PDF Video

Animal Motions on Legged Robots Using Nonlinear Model Predictive Control

Dongho Kang, Flavio De Vincenti, Naomi C. Adams, and Stelian Coros
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
PDF Video

Nonlinear Model Predictive Control for Quadrupedal Locomotion Using Second-Order Sensitivity Analysis

Dongho Kang, Flavio De Vincenti, and Stelian Coros
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
ArXiv Video

Learning Solution Manifolds for Control Problems via Energy Minimization

Miguel Zamora, Roi Poranne, and Stelian Coros
IEEE Robotics And Automation Letters (RA-L), 2022
PDF Video

Programmable Digital Weaves

Yue Li, Juan Montes, Bernhard Thomaszewski, Stelian Coros
IEEE Robotics and Automation Letters (RA-L), 2022
PDF Video

2021

NTopo: Mesh-free Topology Optimization using Implicit Neural Representations

Jonas Zehnder, Yue Li, Stelian Coros, Bernhard Thomaszewski
Conference on Neural Information Processing Systems (NeurIPS), 2021
PDF Video

Animal Gaits on Quadrupedal Robots Using Motion Matching and Model-Based Control

Dongho Kang, Simon Zimmermann, Stelian Coros
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021
PDF Video

Control-Aware Design Optimization for Bio-Inspired Quadruped Robots

Flavio De Vincenti, Dongho Kang, Stelian Coros
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021
PDF Video

Singularity-Aware Design Optimization for Multi-Degree-of-Freedom Spatial Linkages

Guirec Maloisel, Espen Knoop, Bernhard Thomaszewski, Moritz Baecher, Stelian Coros
IEEE Robotics And Automation Letters (RA-L), 2021
PDF Video

SGN: Sparse Gauss-Newton for Accelerated Sensitivity Analysis

Jonas Zehnder, Stelian Coros, Bernhard Thomaszewski
Transactions on Graphics, 2021
PDF

Designing Actuation Systems for Animatronic Figures via Globally Optimal Discrete Search

Simon Huber, Roi Poranne, Stelian Coros
ACM Transactions on Graphics (Proc. ACM SIGGRAPH 2021)
PDF Video

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
ETH Zurich | Department of Computer Science | Institute for Intelligent Interactive Systems | imprint