Sim-to-Real for Soft Robots using Differentiable FEM: Recipes for Meshing, Damping, and Actuation
Sim-to-Real for Soft Robots using Differentiable FEM: Recipes for Meshing, Damping, and Actuation
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使用可微分 FEM 对软机器人进行模拟到真实：网格划分、阻尼和驱动的秘诀
DOI：
10.1109/lra.2022.3154050
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发表时间：
2022
影响因子：
5.2
通讯作者：
Robert K. Katzschmann
中科院分区：
文献类型：
--
作者：
Mathieu Dubied;M. Michelis;A. Spielberg;Robert K. Katzschmann
一个精确的、基于物理的软机器人模型可以在最佳控制中解锁下游应用。有限元法（FEM）是一种用于建模高度可变形结构（如动态弹性体软机器人）的表达方法。最近，投影动力学（PD）已被提出作为一个快速有限元，但是，PD缺乏严格的基准对现实。在本文中，我们比较虚拟机器人模型模拟使用PD从他们的物理同行的测量。特别是，我们研究了几种不同形态的软结构：外力下的夹紧梁，一个驱动的软机器人手臂，和一个软机器人鱼尾。我们基准和分析不同的网格分辨率和元素（四面体和六面体），数值阻尼，并通过可微的解决方案（DiffPD）PD的可微性。我们还提出了一个预测模型，气动软机器人驱动PD在软机器人的应用。通过我们的案例研究，我们提供的策略和算法，在仿真中匹配现实世界的物理，使PD软机器人有用。
An accurate, physically-based model of soft robots can unlock downstream applications in optimal control. The Finite Element Method (FEM) is an expressive approach for modeling highly deformable structures such as dynamic, elastomeric soft robots. Recently, Projective Dynamics (PD) has been proposed as a fast FEM; however, PD lacks rigorous benchmarking against reality. In this paper, we compare virtual robot models simulated using PD with measurements from their physical counterparts. In particular, we examine several soft structures with different morphologies: a clamped beam under external force, a pneumatically actuated soft robotic arm, and a soft robotic fish tail. We benchmark and analyze different meshing resolutions and elements (tetrahedra and hexahedra), numerical damping, and the differentiability of PD through a differentiable solution (DiffPD). We also advance PD in application to soft robotics by proposing a predictive model for pneumatic soft robot actuation. Through our case-studies, we provide strategies and algorithms for matching real-world physics in simulation, making PD useful for soft robots.
影响因子：
5.2
作者：
Du, Tao;Hughes, Josie;Rus, Daniela
通讯作者：
Rus, Daniela
DOI：
--
发表时间：
2020-11
期刊：
ArXiv
影响因子：
--
作者：
David A. Haggerty;M. Banks;Patrick C. Curtis;Igor Mezi'c;E. Hawkes
通讯作者：
David A. Haggerty;M. Banks;Patrick C. Curtis;Igor Mezi'c;E. Hawkes
影响因子：
12.9
作者：
Nicholls, Thomas P.;Constable, Grace E.;Bissember, Alex C.
通讯作者：
Bissember, Alex C.