Advanced soft robot modeling in ChainQueen

作者：Andrew Spielberg, Tao Du, Yuanming Hu, Daniela Rus, Wojciech Matusik · 发表于：Robotica · 年份：2021 · DOI：10.1017/s0263574721000722 · 被引用次数：19 · 研究领域：Soft Robotics and Applications、Fluid Dynamics Simulations and Interactions、Micro and Nano Robotics

Abstract We present extensions to ChainQueen, an open source, fully differentiable material point method simulator for soft robotics. Previous work established ChainQueen as a powerful tool for inference, control, and co-design for soft robotics. We detail enhancements to ChainQueen, allowing for more efficient simulation and optimization and expressive co-optimization over material properties and geometric parameters. We package our simulator extensions in an easy-to-use, modular application programming interface (API) with predefined observation models, controllers, actuators, optimizers, and geometric processing tools, making it simple to prototype complex experiments in 50 lines or fewer. We demonstrate the power of our simulator extensions in over nine simulated experiments.