Intersection-Free Robot Manipulation With Soft-Rigid Coupled Incremental Potential Contact

Author:

Du Wenxin1ORCID,Yao Siqiong2ORCID,Wang Xinlei3ORCID,Xu Yuhang1ORCID,Xu Wenqiang1ORCID,Lu Cewu4ORCID

Affiliation:

1. School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China

2. SJTU-Yale Joint Center of Biostatistics and Data Science, National Center for Translational Medicine, Shanghai Jiao Tong University, Shanghai, China

3. ZenusTech Inc.,, Shenzhen, China

4. Qing Yuan Research Institute and MoE Key Lab of Artificial Intelligence, AI Institute, Shanghai Jiao Tong University, Shanghai, China

Funder

National Key R&D Program of China

Shanghai Municipal Science and Technology

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Reference37 articles.

1. ADD

2. PlasticineLab: A soft-body manipulation benchmark with differentiable physics;Huang,2020

3. Demonstrating RFUniverse: A Multiphysics Simulation Platform for Embodied AI

4. Coupling cloth and rigid bodies for dexterous manipulation

5. Midas: A multi-joint robotics simulator with intersection-free frictional contact;Chen,2022

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