Sim-to-Real of Soft Robots With Learned Residual Physics

摘要

Accurately modeling soft robots in simulation is computationally expensive and commonly falls short of representing the real world. This well-known discrepancy, known as the sim-to-real gap, can have several causes, such as coarsely approximated geometry and material models, manufacturing defects, viscoelasticity and plasticity, and hysteresis effects. Residual physics networks learn from real-world data to augment a discrepant model and bring it closer to reality. Here, we present a residual physics method for modeling soft robots with large degrees of freedom. We train neural networks to learn a residual term — the modeling error between simulated and physical systems. Concretely, the residual term is a force applied on the whole simulated mesh, while real position data is collected with only sparse motion markers. The physical prior of the analytical simulation provides a starting point for the residual network, and the combined model is more informed than if physics were learned <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">tabula rasa</i>. We demonstrate our method on <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1)</i> a silicone elastomeric beam and <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2)</i> a soft pneumatic arm with hard-to-model, anisotropic fiber reinforcements. Our method outperforms traditional system identification up to <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\text{60}{\%}$</tex-math></inline-formula>. We show that residual physics need not be limited to low degrees of freedom but can effectively bridge the sim-to-real gap for high dimensional systems.