Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications.
IEEE International Conference on Robotics and Automation（2023）
关键词
accurate flow physics,accurately coupled fluid-robot physics,demon-strate Aquarium's ability,differentiability,differentiable fluid-structure interaction,finite-volume spa-tial discretization,fluid-structure interaction solver,fully implicit Crank-Nicolson scheme,immersed-boundary method,implicit-function theorem,incompressible Navier-Stokes equations,Navier-Stokes system,nonlinear optimization problem,optimization-based formulation,robot states,robotics applications,soft robotic fish tail,stable simulation
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