发表机构
Seoul National University（首尔大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出CRISP，一个支持多种几何表示与增广拉格朗日接触求解器的高保真物理仿真平台，旨在实现紧公差机器人操作等复杂多接触场景的精确仿真，并已公开验证其物理保真度。
AI 中文摘要
我们提出了CRISP（接触丰富型仿真平台），这是一个专为复杂多接触仿真（如紧公差机器人操作）而设计的高保真物理引擎。在机器人仿真中实现高物理保真度，既需要对几何体和接触交互进行富有表现力的建模，也需要通过稳健的碰撞检测和接触求解器进行精确的数值求解。然而，现有的仿真器要么对几何表示的支持有限且对接触交互的建模过于简化，要么采用的数值求解方法在精度或稳健性上固有地受到限制。因此，我们开发了一个新的仿真器，它支持多种几何表示，并采用基于优化的精确碰撞检测，同时将接触建模与稳健的增广拉格朗日接触求解器相结合。这种集成使得在复杂几何体上能够高效且一致地检测接触信息，同时在没有问题性松弛的情况下精确求解多接触约束，这对于仿真接触密集和尖锐的交互至关重要。我们针对最先进的平台验证了我们仿真器的物理保真度，并通过复杂的机器人操作场景进一步展示了其能力。CRISP可在以下网址公开获取：此https URL。
英文摘要
We present CRISP (Contact-RIch Simulation Platform), a high-fidelity physics engine tailored for complex multi-contact simulations such as tight-tolerance robotic manipulation. Achieving high physical fidelity in robotic simulation requires both expressive modeling of geometry and contact interactions, as well as accurate numerical resolution via robust collision detection and contact solvers. However, existing simulators often either rely on limited support for geometric representations and simplified modeling of contact interactions, or employ numerical resolution methods whose accuracy or robustness is inherently constrained. Accordingly, we develop a new simulator that supports diverse geometric representations with accurate optimization-based collision detection, and combines contact modeling with robust augmented Lagrangian-based contact solvers. This integration enables efficient and consistent detection of contact information across complex geometries while accurately resolving multi-contact constraints without problematic relaxations, which is essential for simulating contact-intensive and sharp interactions. We validate the physical fidelity of our simulator against state-of-the-art platforms and further demonstrate its capabilities through complex robotic manipulation scenarios. CRISP is publicly available at https://github.com/INRoL/crisp.
Comments12 pages, 8 figures. Project website: https://inrol.github.io/crisp/
