Advanced soft robot modeling in ChainQueen. Issue 1 (23rd January 2023)

• Record Type: Journal Article
• Authors: Spielberg, Andrew; Du, Tao; Hu, Yuanming; Rus, Daniela; Matusik, Wojciech
• Is Part Of: Robotica. Volume 41:Issue 1(2023)
• Page Start: 74
• Page End: 104
• Publication Date: 2023-01-23
• Subjects: Soft robotics -- Differentiable simulation -- Soft robot control -- Computational design; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574721000722
• Languages: English
• ISSNs: 0263-5747

Abstract

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.