Communication Dans Un Congrès Année : 2025

Differentiable Simulation of Soft Robots with Frictional Contacts

Résumé

In recent years, soft robotics simulators have evolved to offer various functionalities, including the simulation of different material types (e.g., elastic, hyper-elastic) and actuation methods (e.g., pneumatic, cable-driven, servomotor). These simulators also provide tools for various tasks, such as calibration, design, and control. However, efficiently and accurately computing derivatives within these simulators remains a challenge, particularly in the presence of physical contact interactions. Incorporating these derivatives can, for instance, significantly improve the convergence speed of control methods like reinforcement learning and trajectory optimization, enable gradient-based techniques for design, or facilitate end-to-end machine-learning approaches for model reduction. This paper addresses these challenges by introducing a unified method for computing the derivatives of mechanical equations within the finite element method framework, including contact interactions modeled as a nonlinear complementarity problem. The proposed approach handles both collision and friction phases, accounts for their nonsmooth dynamics, and leverages the sparsity introduced by mesh-based models. Its effectiveness is demonstrated through several examples of controlling and calibrating soft systems.

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Dates et versions

hal-04916093 , version 1 (30-01-2025)

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  • HAL Id : hal-04916093 , version 1

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Etienne Ménager, Louis Montaut, Quentin Le Lidec, Justin Carpentier. Differentiable Simulation of Soft Robots with Frictional Contacts. RoboSoft 2025 - 8th IEEE-RAS International Conference on Soft Robotics, Apr 2025, Lausanne, Switzerland. ⟨hal-04916093⟩
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