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description=An End-to-End Differentiable Framework for Contact-Aware Robot Design;
keywords=Robot Co-Design, Articulated Robot, Design Parameterization, Design Optimization, Differentiable Simulation;

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an end to end differentiable framework for contact aware robot design diffhand home abstract paper video related papers an end to end differentiable framework for contact aware robot design jie xu 1 tao chen 1 lara zlokapa 1 michael foshey 1 wojciech matusik 1 shinjiro sueda 2 pulkit agrawal 1 1 massachusetts institute of technology 2 texas a m university abstract the current dominant paradigm for robotic manipulation involves two separate stages manipulator design and control because the robot s morphology and how it can be controlled are intimately linked joint optimization of design and control can significantly improve performance existing methods for co optimization are limited and fail to explore a rich space of designs the primary reason is the trade off between the complexity of designs that is necessary for contact rich tasks against the practical constraints of manufacturing optimization contact handling etc we overcome several of these challenges by building an end to end differentiable framework for contact aware robot design the two key components of this framework are a novel deformation based parameterization that allows for the design of articulated rigid robots with arbitrary complex geometry and a differentiable rigid body simulator that can handle contact rich scenarios and computes analytical gradients for a full spectrum of kinematic and dynamic parameters on multiple manipulation tasks our framework outperforms existing methods that either only optimize for control or for design using alternate representations or co optimize using gradient free methods paper an end to end differentiable framework for contact aware robot design jie xu tao chen lara zlokapa michael foshey wojciech matusik shinjiro sueda pulkit agrawal robotics science and systems rss 2021 paper arxiv supp diffsim doc poster video code talk bibtex bibtex inproceedings xu rss 21 author jie xu and tao chen and lara zlokapa and michael foshey and wojciech matusik and shinjiro sueda and pulkit agrawal title an end to end differentiable framework for contact aware robot design booktitle proceedings of robotics science and systems year 2021 address virtual month july doi 10 15607 rss 2021 xvii 008 video demo related papers robogrammar graph grammar for terrain optimized robot design allan zhao jie xu mina konakovi cacute lukovi cacute josephine hughes andrew spielberg daniela rus wojciech matusik acm transactions on graphics 39 6 proc siggraph asia 2020 project page multi objective graph heuristic search for terrestrial robot design jie xu andrew spielberg allan zhao daniela rus wojciech matusik ieee international conference on robotics and automation icra 2021 project page redmax efficient flexible approach for articulated dynamics ying wang nicholas j weidner margaret a baxter yura hwang danny m kaufman shinjiro sueda acm transactions on graphics 38 4 proc siggraph 2019 project page press mit news csail news tech explorist massachusetts institute of technology 2021