Elastica: A Compliant Mechanics Environment for Soft Robotic Control

Delicate robots can be utilized in various spheres, these as agriculture, medication, and protection. Having

Delicate robots can be utilized in various spheres, these as agriculture, medication, and protection. Having said that, their advanced physics implies that they are hard to management. Recent simulation testbeds are insufficient for using the total gain of elasticity.

A the latest paper on arXiv.org proposes Elastica, a simulation ecosystem tailor-made to comfortable robotic context. It attempts to fill the gap amongst common rigid overall body solvers, which are incapable to product advanced continuum mechanics, and high-fidelity finite things procedures, which are mathematically cumbersome. Elastica can be utilized to simulate assemblies of comfortable, slender, and compliant rods and interface with important reinforcement studying deals. It is proven how most reinforcement studying designs can learn to management a comfortable arm and to total successively challenging tasks, like 3D tracking of a target, or maneuvering amongst structured and unstructured obstacles.

Delicate robots are notoriously hard to management. This is partly because of to the shortage of designs equipped to capture their advanced continuum mechanics, ensuing in a deficiency of management methodologies that just take total gain of overall body compliance. At the moment offered simulation procedures are both way too computational demanding or extremely simplistic in their actual physical assumptions, main to a paucity of offered simulation resources for acquiring these management schemes. To address this, we introduce Elastica, a free of charge, open up-resource simulation ecosystem for comfortable, slender rods that can bend, twist, shear and stretch. We reveal how Elastica can be coupled with 5 state-of-the-artwork reinforcement studying algorithms to productively management a comfortable, compliant robotic arm and total progressively challenging tasks.

Connection: https://arxiv.org/abs/2009.08422