Web: http://arxiv.org/abs/2205.01758

May 5, 2022, 1:11 a.m. | Yi-Ling Qiao, Junbang Liang, Vladlen Koltun, Ming C. Lin

cs.LG updates on arXiv.org arxiv.org

We present a method for differentiable simulation of soft articulated bodies.
Our work enables the integration of differentiable physical dynamics into
gradient-based pipelines. We develop a top-down matrix assembly algorithm
within Projective Dynamics and derive a generalized dry friction model for soft
continuum using a new matrix splitting strategy. We derive a differentiable
control framework for soft articulated bodies driven by muscles, joint torques,
or pneumatic tubes. The experiments demonstrate that our designs make soft body
simulation more stable and …

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