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MuJoCo cloth dynamics dynamic unfolding controlled experiment released

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Guyuehome released a controlled experiment on dynamic unfolding control based on MuJoCo cloth dynamics, using realistic shell-element simulation to complete twelve groups of experiments, comparing differences in cloth unfolding under the same gripping trajectory. The experimental conclusions state: swinging relies on inertia to unfold the cloth; the slow-speed setting spreads the cloth most fully, while excessive speed swings the cloth off the edge of the table; the unfolding effect is insensitive to stiffness, and over-damping instead produces creep.

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  1. [Flexible Simulation] Dynamic unfolding control based on MuJoCo cloth dynamics

    Based on MuJoCo cloth dynamics, twelve controlled experiments were completed using realistic shell-element simulation to study differences in cloth unfolding under the same gripping trajectory. Flicking unfolds the cloth through inertia; the slow setting spreads it most fully, while too fast a motion flings it off the table edge. Unfolding performance is insensitive to stiffness, and overdamping instead produces creep.

    Guyuehome ·

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Grasping and manipulationData and simulationGuides and practice

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