arXiv
Open Access
2022
Midas: A Multi-Joint Robotics Simulator with Intersection-Free Frictional Contact
Yunuo Chen
Minchen Li
Wenlong Lu
Chuyuan Fu
Chenfanfu Jiang
Abstrak
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.
Topik & Kata Kunci
Penulis (5)
Y
Yunuo Chen
M
Minchen Li
W
Wenlong Lu
C
Chuyuan Fu
C
Chenfanfu Jiang
Akses Cepat
Informasi Jurnal
- Tahun Terbit
- 2022
- Bahasa
- en
- Sumber Database
- arXiv
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- Open Access ✓