公开(公告)号：US20240273255A1

公开(公告)日：2024-08-15

申请号：US18439448

申请日：2024-02-12

Applicant: DASSAULT SYSTEMES

Inventor： François COCHEVELOU ,  David BONNER ,  Martin-Pierre Hugo SCHMIDT

IPC: G06F30/20 ,  G06F30/17 ,  G06F119/18

CPC classification number: G06F30/20 ,  G06F30/17 ,  G06F2119/18

Abstract: A computer-implemented method for designing a 3D robot body model representing a robot body formed in one or more materials. The method comprises obtaining an objective function based on predetermined parameters quantifying a motion metric of the robot. The predetermined parameters include a plurality of voxels forming a gridding of a 3D space, one or more parameters related to the one or more materials, and an actuation function which represents an actuation signal. The design variables include a distribution of density values over the plurality of voxels, and a distribution of actuation coefficients over the plurality voxels. The method further comprises exploring the design variables so as to perform a gradient-based optimization of the objective function, thereby obtaining an optimal continuous value of the design variables, and determining a 3D robot body model based on the optimal continuous value of the design variables.