Real2Sim: visco-elastic parameter estimation from dynamic motion

TL;DR: This paper learns a differentiable model of a soft robot’s quasi-static physics, and then performs gradient-based optimization to find optimal open-loop control inputs and finds that the learned model captures phenomena that would be absent from an idealized physically-based simulation.

TL;DR: In this article, the authors combine Boston Dynamics Spot with a light-weight, external robot arm to perform dynamic grasping maneuvers and demonstrate that even with a simple model, and control trajectories deployed in a feed-forward manner, the combined platform is capable of executing grasping tasks in a dynamic fashion.

TL;DR: Differentiable Projective Dynamics (DiffPD) as mentioned in this paper is a differentiable soft-body simulator based on PD with implicit time integration, which uses the prefactorized Cholesky decomposition in forward PD simulation.

TL;DR: We present a method that leverages the recent development in differentiable simulation coupled with a differentiable, analytical hydrodynamic model to assist with the modeling and control of an underwater soft robot.

TL;DR: In this paper, the influence of non-linear elastic systems on a simple geometric model for elastic deformations is discussed, and the authors propose a planar and spatial euler introduction to nonlinear analysis.

TL;DR: An update formula which generates matrices using information from the last m iterations, where m is any number supplied by the user, and the BFGS method is considered to be the most efficient.

TL;DR: Bonet and Wood as discussed by the authors provide a complete, clear, and unified treatment of nonlinear continuum analysis and finite element techniques under one roof, providing an essential resource for postgraduates studying non-linear continuum mechanics and ideal for those in industry requiring an appreciation of the way in which their computer simulation programs work.

Abstract: Chapter 4, and relaxation methods and applications in Chapter 5. There we find a detailed discussion of block relaxation methods, some result of convex analysis, and optimization techniques for quadratic functionals. In Chapter 6 the augment Lagrange method are introduced, a favorite of Glowinski and a subject on which he has written many papers. Lee's square approximations to nonlinear problems are discussed in Chapter 7 with applications to fluid dynamics. There some impressive transonic flow calculations are discussed which are handled by Lee square and finite element methods. Three appendices are provided, one on an introduction to linear variational problems, another on finite element methods with upwinding for second-order problems with convective terms, and a third on Navier-Stokes equations and their numerical treatment. Again, this is a precise, carefully written book and a very welcome addition to the literature on nonlinear computational mechanics.