论文标题
MIDAS：具有无交叉摩擦接触的多关节机器人模拟器
Midas: A Multi-Joint Robotics Simulator with Intersection-Free Frictional Contact
论文作者
论文摘要
我们介绍了MIDAS，这是一个基于增量电位触点（IPC）模型的机器人模拟框架。我们的模拟器保证了无交叉，稳定和准确的摩擦接触的分辨率。我们通过对高精度任务的实验验证以及与子弹物理学的比较来证明框架的功效。还开发并测试了使用MIDAS的增强学习管道，以执行无交叉的孔洞任务。
We introduce Midas, a robotics simulation framework based on the Incremental Potential Contact (IPC) model. Our simulator guarantees intersection-free, stable, and accurate resolution of frictional contact. We demonstrate the efficacy of our framework with experimental validations on high-precision tasks and through comparisons with Bullet physics. A reinforcement learning pipeline using Midas is also developed and tested to perform intersection-free peg-in-hole tasks.
