Real2Sim2Real Transfer for Control of Cable-Driven Robots Via a Differentiable Physics Engine
Kun Wang,William R. Johnson,Shiyang Lu,Xiaonan Huang,Joran Booth,Rebecca Kramer-Bottiglio,Mridul Aanjaneya,Kostas Bekris,Kun Wang,William R. Johnson,Shiyang Lu,Xiaonan Huang,Joran Booth,Rebecca Kramer-Bottiglio,Mridul Aanjaneya,Kostas Bekris
Tensegrity robots, composed of rigid rods and flexible cables, exhibit high strength-to-weight ratios and significant deformations, which enable them to navigate unstructured terrains and survive harsh impacts. They are hard to control, however, due to high dimensionality, complex dynamics, and a coupled architecture. Physics-based simulation is a promising avenue for developing locomotion policie...
