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Poster
Differentiable Simulation of Soft Multi-body Systems
Yiling Qiao · Junbang Liang · Vladlen Koltun · Ming Lin

Tue Dec 07 04:30 PM -- 06:00 PM (PST) @

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 realistic compared to other frameworks. Our method accelerates the solution of system identification problems by more than an order of magnitude, and enables efficient gradient-based learning of motion control with soft robots.

Author Information

Yiling Qiao (University of Maryland, College Park)
Junbang Liang (University of Maryland, College Park)
Vladlen Koltun (Apple)
Ming Lin (University of Maryland - College Park)

Ming C. Lin is currently the Elizabeth Stevinson Iribe Chair of Computer Science at the University of Maryland College Park and John R. & Louise S. Parker Distinguished Professor Emerita of Computer Science at the University of North Carolina (UNC), Chapel Hill. She was also an Honorary Visiting Chair Professor at Tsinghua University in China and at University of Technology Sydney in Australia. She obtained her B.S., M.S., and Ph.D. in Electrical Engineering and Computer Science from the University of California, Berkeley. She received several honors and awards, including the NSF Young Faculty Career Award in 1995, Honda Research Initiation Award in 1997, UNC/IBM Junior Faculty Development Award in 1999, UNC Hettleman Award for Scholarly Achievements in 2003, Beverly W. Long Distinguished Professorship 2007-2010, UNC WOWS Scholar 2009-2011, IEEE VGTC Virtual Reality Technical Achievement Award in 2010, and many best paper awards at international conferences. She is a Fellow of ACM, IEEE, and Eurographics.

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