30 Apr

Logics Project -- RoCo + Webots

Chang Liu

Goal 1: Get RoCo-designed robots to work well in Webots Problems: RoCo generated .stl file is for presentation, the parts are considered as one solid body, which means there will be no rotational/translational parts simulated in Webots. How to get RoCo generate files that can differentiate t...

29 Apr

Logics Project -- RoCo + Webots

Chang Liu

Pehuen and I are working on computational design and evaluation of robots. This project will take realistic manufacturable robotic designs from RoCo and evaluate them in Webots. Flowchart: here is a flow chart that we came up Tasks: the parts that are marked in red are what is missing in thi...

26 Apr

LOGICS project initialization

Chang Liu

LOGICS Project Pehuen and I have been working on building robotic cars & boats from RoCo design system and evaluate their performance in WeBots simulation system. 1. We want to build robots in WeBots directly. Here are some robots that have been built: (1.1) A four-wheeled car Design code:...

19 Apr

Computational Design of Planar 3D Structures -- Buckling -- Intermedium Results

Chang Liu

Part 1: Correcting Y Direction Deflection Y direction deflection correction Following last week's blog post, I modified our design tool. The new results show a better match for y-direction deflection. Here are some of the results: 1. FCFC, clamped on longer edges, forces on shorter edges...

13 Apr

Computational Design of Planar 3D Structures -- Buckling -- Intermedium Results

Chang Liu

1. Here is the intermedium results: plane stress of a CFFF rectangle plate, with uniaxial load The magnitude is the same, results are close (at least visually). Stress u direction displacement v direction displacement (results do not match well, but this is not the direction of interes...

06 Apr

Computational Design of Planar 3D Structures -- Buckling -- Intermedium Results

Chang Liu

There are three steps I will take in order to implement this design tool: Step 1: Verify I operate correctly in FEA (Solidworks Simulation). In order to do this, I will use some existing numerical solution and/or analytical solutions to find out critical buckling load. Then I will apply this criti...

29 Mar

Buckling in planar 3d structures -- Intermedium results

Chang Liu

As mentioned in the last blog post, there are two steps in solving buckling problems The first step is to calculate plane stress in the system. This step converts external load (in-plane load) into stress distribution in the plate, so as to be used later in the second step (buclking analysis) T...

17 Mar

Computational design toolbox for in-plane behavior in 3D structures with planar surfaces

Chang Liu

Here is the design toolbox that I am currently implementing: Currently, I am implementing potential energy in plane stress analysis. The direct outcome will be the in-plane displacement and stress distribution. As soon as I get those results, I will compare them by: (1) using simple cases such a...

03 Mar

ICRA accepted & IROS submitted

Chang Liu

IROS Submitted I am happy to have our IROS paper submitted. Here is our paper on arXiv. Here you can find the demo video. Here you can find all document (e.g. designs, codes, drawings). Here are all videos. Thank you everyone for your support! ICRA Accepted Congratulations to Wenz...

18 Feb

IROS paper demo

Chang Liu

There are two things I would like to demonstrate: We can rapidly complete iterative design, for a device that failed initially. We can predict failure ahead of time. There are more things I would like to show: - A. Our design tool can be used on different materials Isotropic ma...

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