軟体多体システムの微分可能シミュレーション
Differentiable Simulation of Soft Multi-body Systems
射影力学に基づくトップダウン行列組立と一般化乾性摩擦モデルを導入し、軟体多体システムの微分可能シミュレーションを実現した。これによりシステム同定を大幅に高速化し、軟体ロボットの運動制御の勾配ベース学習を可能にした。
著者: Yi-Ling Qiao, Junbang Liang, Vladlen Koltun, Ming C. Lin
分類: cs.LG, cs.GR, cs.RO
原文アブストラクト
We present a method for differentiable simulation of soft articulated bodies. Our work enables the integration of differentiable physical dynamics into gradient-based pipelines. We develop a top-down matrix assembly algorithm within Projective Dynamics and derive a generalized dry friction model for soft continuum using a new matrix splitting strategy. We derive a differentiable control framework for soft articulated bodies driven by muscles, joint torques, or pneumatic tubes. The experiments demonstrate that our designs make soft body simulation more stable and realistic compared to other frameworks. Our method accelerates the solution of system identification problems by more than an order of magnitude, and enables efficient gradient-based learning of motion control with soft robots.
