軟体・剛体連成と交差なし接触を実現するロボットマニピュレーションシミュレータZeMa
Intersection-free Robot Manipulation with Soft-Rigid Coupled Incremental Potential Contact
軟体と剛体の双方向連成・交差なし保証・摩擦接触を統合したシミュレータZeMaを提案し、IPC-GraspSim比で75倍高速に把持生成や強化学習を行い実機へ転移した。
著者: Wenxin Du, Siqiong Yao, Xinlei Wang, Yuhang Xu, Wenqiang Xu, Cewu Lu
分類: cs.RO
原文アブストラクト
This paper presents a novel simulation platform, ZeMa, designed for robotic manipulation tasks concerning soft objects. Such simulation ideally requires three properties: two-way soft-rigid coupling, intersection-free guarantees, and frictional contact modeling, with acceptable runtime suitable for deep and reinforcement learning tasks. Current simulators often satisfy only a subset of these needs, primarily focusing on distinct rigid-rigid or soft-soft interactions. The proposed ZeMa prioritizes physical accuracy and integrates the incremental potential contact method, offering unified dynamics simulation for both soft and rigid objects. It efficiently manages soft-rigid contact, operating 75x faster than baseline tools with similar methodologies like IPC-GraspSim. To demonstrate its applicability, we employ it for parallel grasp generation, penetrated grasp repair, and reinforcement learning for grasping, successfully transferring the trained RL policy to real-world scenarios.
