幾何学的ファブリック：古典力学を一般化し行動の物理を捉える
Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior
古典力学をフィンスラー幾何学へ拡張し、安定性を保ちながら挙動を設計できる新たな制御理論「幾何学的ファブリック」を提案し、RMPを上回る性能をロボット実験で示した。
著者: Karl Van Wyk, Mandy Xie, Anqi Li, Muhammad Asif Rana, Buck Babich, Bryan Peele, Qian Wan, Iretiayo Akinola, Balakumar Sundaralingam, Dieter Fox, Byron Boots, Nathan D. Ratliff
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Classical mechanical systems are central to controller design in energy shaping methods of geometric control. However, their expressivity is limited by position-only metrics and the intimate link between metric and geometry. Recent work on Riemannian Motion Policies (RMPs) has shown that shedding these restrictions results in powerful design tools, but at the expense of theoretical stability guarantees. In this work, we generalize classical mechanics to what we call geometric fabrics, whose expressivity and theory enable the design of systems that outperform RMPs in practice. Geometric fabrics strictly generalize classical mechanics forming a new physics of behavior by first generalizing them to Finsler geometries and then explicitly bending them to shape their behavior while maintaining stability. We develop the theory of fabrics and present both a collection of controlled experiments examining their theoretical properties and a set of robot system experiments showing improved performance over a well-engineered and hardened implementation of RMPs, our current state-of-the-art in controller design.
