Code-based Design for Consistent Prototyping, Manufacture and Physical Modeling of Multimodal Robots
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00387689" target="_blank" >RIV/68407700:21230/25:00387689 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ECMR65884.2025.11163191" target="_blank" >https://doi.org/10.1109/ECMR65884.2025.11163191</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ECMR65884.2025.11163191" target="_blank" >10.1109/ECMR65884.2025.11163191</a>
Alternative languages
Result language
angličtina
Original language name
Code-based Design for Consistent Prototyping, Manufacture and Physical Modeling of Multimodal Robots
Original language description
The paper introduces build123things, a software tool for consistent robot design, manufacturing, and physical modeling. It is motivated by designing robotic systems with multimodal locomotion that require multiple simulation models to evaluate their motion capabilities using multimodal planning techniques. The tool uses a Hierarchical Assembly Graph and an algorithm to select the kinematic root, leveraging the Code-CAD library build123d and the OpenCASCADE geometry kernel. It employs explicit reference geometries to overcome the Topological Naming Problem (TNP) of existing mainstream Computer Aided Design (CAD) systems relying on implicit geometry element naming. Rich material annotations and assembly semantics enable use across design, simulation, and manufacturing, narrowing the sim-to-real gap. Its usage is demonstrated in a robotic arm design and a climbing magnetic robot case study, where build123things supports multimodal planning by implementing kinematic hierarchy transforms.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2025 European Conference on Mobile Robots Conference Proceedings
ISBN
979-8-3315-2705-1
ISSN
2639-7919
e-ISSN
2767-8733
Number of pages
6
Pages from-to
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Publisher name
IEEE
Place of publication
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Event location
Padua
Event date
Sep 2, 2025
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
001592487100045