Fabio Dubois — accepted AI-conference papers

2020

CAMI - Analysis, Design and Realization of a Force-Compliant Variable Cam System

Dominik Mannhart, Fabio Dubois, Karen Bodie, Victor Klemm, Alessandro Morra, Marco Hutter

ICRA 2020poster

This work presents a novel design concept that achieves multi-legged locomotion using a three-dimensional cam system. A computational framework has been developed to analyze and dimension this cam apparatus, that can perform arbitrary end effector motions within its design constraints. The mechanism…

Cited by 3 Source ↗Scholar ↗

2020

Vitruvio: An Open-Source Leg Design Optimization Toolbox for Walking Robots

Michael Chadwick, Hendrik Kolvenbach, Fabio Dubois, Hong Fai Lau, Marco Hutter

RA-L 2020

We present an open-source framework for developing optimal leg designs for walking robots. The leg design parameters (e.g., link lengths, transmission ratios, and spring parameters) are optimized for a user-defined metric such as the minimization of energy consumption or actuator peak torque, enabli

Cited by 43 Source ↗Scholar ↗