论文标题
使用可区分的FEM的软机器人的SIM到现实：用于网格划分，阻尼和致动的食谱
Sim-to-Real for Soft Robots using Differentiable FEM: Recipes for Meshing, Damping, and Actuation
论文作者
论文摘要
精确，基于物理的软机器人模型可以在最佳控制中解锁下游应用程序。有限元方法（FEM）是一种表达方法，用于建模高度可变形的结构，例如动态，弹性软机器人。在本文中，我们比较了使用可区分的FEM模拟的虚拟机器人模型与其物理对应物的测量值进行了比较。特别是，我们检查了几个具有不同形态的软结构：外部力下的夹紧软束，气动驱动的软机器人臂和软机器人鱼尾。我们基于基于快速可区分的投影动力学（DIFFPD），使用模拟器（diffPD）基准和分析了不同的网格分辨率和元素（四面体和六面的分辨率和元素（四面体和六面的）。我们还通过提出用于气动软机器人驱动的预测模型来推动对软机器人的应用模型。通过我们的食谱和案例研究，我们提供了与模拟中现实世界物理匹配的策略和算法，使FEM对软机器人有用
An accurate, physically-based, and differentiable model of soft robots can unlock downstream applications in optimal control. The Finite Element Method (FEM) is an expressive approach for modeling highly deformable structures such as dynamic, elastomeric soft robots. In this paper, we compare virtual robot models simulated using differentiable FEM with measurements from their physical counterparts. In particular, we examine several soft structures with different morphologies: a clamped soft beam under external force, a pneumatically actuated soft robotic arm, and a soft robotic fish tail. We benchmark and analyze different meshing resolutions and elements (tetrahedra and hexahedra), numerical damping, and the efficacy of differentiability for parameter calibration using a simulator based on the fast Differentiable Projective Dynamics (DiffPD). We also advance FEM modeling in application to soft robotics by proposing a predictive model for pneumatic soft robotic actuation. Through our recipes and case studies, we provide strategies and algorithms for matching real-world physics in simulation, making FEM useful for soft robots
