剛体と材料点法の凸定式化とGPU非同期連成によるインタラクティブシミュレーション
A Convex Formulation of Material Points and Rigid Bodies with GPU-Accelerated Async-Coupling for Interactive Simulation
材料点法と剛体力学を摩擦接触で弱連成する凸定式化を提案し、GPU並列化と非同期時間分割で最大500倍の高速化を達成、ロボット操作のインタラクティブシミュレーションを可能にした。
著者: Chang Yu, Wenxin Du, Zeshun Zong, Alejandro Castro, Chenfanfu Jiang, Xuchen Han
分類: cs.RO
原文アブストラクト
We present a novel convex formulation that weakly couples the Material Point Method (MPM) with rigid body dynamics through frictional contact, optimized for efficient GPU parallelization. Our approach features an asynchronous time-splitting scheme to integrate MPM and rigid body dynamics under different time step sizes. We develop a globally convergent quasi-Newton solver tailored for massive parallelization, achieving up to 500x speedup over previous convex formulations without sacrificing stability. Our method enables interactive-rate simulations of robotic manipulation tasks with diverse deformable objects including granular materials and cloth, with strong convergence guarantees. We detail key implementation strategies to maximize performance and validate our approach through rigorous experiments, demonstrating superior speed, accuracy, and stability compared to state-of-the-art MPM simulators for robotics. We make our method available in the open-source robotics toolkit, Drake.
