论文标题
通过基于优化的几何计算，对软机器人的碰撞感知快速模拟
Collision-Aware Fast Simulation for Soft Robots by Optimization-Based Geometric Computing
论文作者
论文摘要
软机器人由于其机械合规性可以安全地与环境互动。在现代的软机器人的现代设计中，自我碰撞也用于在不同的任务中提高其性能。但是，开发一个可以很好地处理碰撞响应的高效且可靠的模拟器，仍然是软机器人技术研究中的一项艰巨任务。本文基于几何优化提供了一个碰撞感知的模拟器，在该模拟器中，我们开发了一种高效且现实的碰撞检查 /响应模型，其中包含了超弹性材料特性。软机器人的驱动变形和碰撞响应都是基于几何目标的。可以通过最小化基于几何的目标函数来获得软机器人的无碰撞主体。与基于FEA的物理模拟不同，所提出的管道的计算成本要低得多。此外，在处理具有较大体积变化的软机器人时，适用自适应重新捕获以提高收敛性。在不同的软机器人上进行了实验测试，以验证我们的方法的性能。
Soft robots can safely interact with environments because of their mechanical compliance. Self-collision is also employed in the modern design of soft robots to enhance their performance during different tasks. However, developing an efficient and reliable simulator that can handle the collision response well, is still a challenging task in the research of soft robotics. This paper presents a collision-aware simulator based on geometric optimization, in which we develop a highly efficient and realistic collision checking / response model incorporating a hyperelastic material property. Both actuated deformation and collision response for soft robots are formulated as geometry-based objectives. The collision-free body of a soft robot can be obtained by minimizing the geometry-based objective function. Unlike the FEA-based physical simulation, the proposed pipeline performs a much lower computational cost. Moreover, adaptive remeshing is applied to achieve the improvement of the convergence when dealing with soft robots that have large volume variations. Experimental tests are conducted on different soft robots to verify the performance of our approach.
