SoftCon: Simulation and Control of Soft-Bodied Animals
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The document describes a method for simulating and controlling soft-bodied animals using biomimetic actuators. The method uses an adaptive propagation muscle excitation model (AP-MEM) that allows realistic movement with low-dimensional control. Deep reinforcement learning is used to train a controller that can generate online, real-time control signals for simulating various animals like lampreys, starfish, octopuses and cuttlefish. The trained controllers are robust and can handle collisions during simulation. The goal is to develop a biologically inspired simulation and control approach without using reference motion data.
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SoftCon: Simulation and Control of Soft-Bodied Animals
- 1. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG SoftCon: Simulation and Control of Soft-Bodied Animals with Biomimetic Actuators Sehee Min, Jungdam Won, Seunghwan Lee, Jungnam Park, Jehee Lee Seoul National University
- 2. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG
- 3. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG
- 4. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Goal • Realistic simulation and control without reference data CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG
- 5. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Goal • Interactive control for soft-bodied animal CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG
- 6. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG
- 7. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Related Work Pan et al. 2018 Hahn et al. 2012Kim et al. 2011 Tan et al. 2012 Ijiri et al. 2009 Bern et al. 2018 Coros et al. 2012
- 8. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Soft-body Character • Boneless • FEM structure • Muscle actuator
- 9. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Muscle Actuator • Nerve cord + Muscle fiber
- 10. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Muscle Actuator • Nerve cord + Muscle fiber • Multi-segmented muscle
- 11. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Muscle Excitation Model Independent Shared Maximal flexibility High-dimensional control Simple movement Low control DoF
- 12. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Choice of Muscle Excitation Model Low control dimension Flexibility Biomimetic
- 13. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Central Pattern Generator (CPG) CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG • Cyclic pattern with fewer parameters • Amplitude, period, mean, … • Motivation in signal generation and propagation from central
- 14. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Central Pattern Generator (CPG) • Strongly bounded on the central signal 𝜃1 ∆𝜃1 𝜃2 𝜃3 ∆𝜃2 ∆𝜃3 ?
- 15. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Signal Delivery of Octopus • Signal can be modulated spatially and temporally • Shape • Propagation speed Levy et al. 2017Yekutieli et al. 2005
- 16. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Adaptive Propagation central pattern excitation pattern
- 17. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG
- 18. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Adaptive Propagation • Central Pattern 𝜇
- 19. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Adaptive Propagation • Propagation Speed 𝜅 𝜅 = 1 𝜅 = 3 CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG
- 20. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG 𝛼 = 1 𝛼 = 0.25 • Delivery 𝛼 Adaptive Propagation CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG
- 21. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG • Attenuation 𝛽 Adaptive Propagation 𝛽 = 1 𝛽 = 0.25 CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG
- 22. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Adaptive Propagation 𝑢𝑖 𝑡 + 1 = 𝜇 𝑡 , 𝑖𝑓 𝑖 = 0 𝛼𝑢𝑖−1 𝑡 + 𝛽𝑢𝑖 𝑡 , 𝑜𝑡ℎ𝑒𝑟𝑤𝑖𝑠𝑒,
- 23. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Control with AP-MEM 𝜇1, 𝜅1, 𝛼1, 𝛽1 … 𝜇 𝑚, 𝜅 𝑚, 𝛼 𝑚, 𝛽 𝑚 𝑚 = # of muscles
- 24. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Deep Reinforcement Learning • Learning by trial-and-error to maximize reward without training data • Deep neural network • Deal with high-dimensional data • Fast at run-time
- 25. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Deep Reinforcement Learning {∆𝜇, ∆𝜅, ∆𝛼, ∆𝛽} state action NN 𝜇1, 𝜅1, 𝛼1, 𝛽1 … 𝜇 𝑚, 𝜅 𝑚, 𝛼 𝑚, 𝛽 𝑚
- 26. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Training with AP-MEM • Fast evaluation for deep reinforcement learning AP-MEM CPG # of Evaluations
- 27. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Comparison with MEMs Adaptive Propagation Independent Share CPG Lamprey Avg. return 2798.98 3655.67 937.25 29.39 Training time (hour) 19 350 45 47.85 Octopus Avg. return 1503.55 8.56 15.05 33.42 Training time (hour) 47 156 57 45
- 28. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG
- 29. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG
- 30. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG
- 31. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG
- 32. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG
- 33. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG
- 34. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Contraction Dynamics muscle excitation signal 𝑢 level of activation 𝑒 = 𝑤𝑢
- 35. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Contractile Muscle • Muscle length shorten by muscle excitation level Level of activation 𝑒 Muscle direction m
- 36. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG
- 37. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Thin fin
- 38. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Bending Muscle • Angle between two triangles shorten by muscle excitation level 𝐱0 𝐱1 𝐱2 𝐱3 𝐱 𝟑 𝐱 𝟎 𝐱 𝟏 𝐱 𝟐 Level of activation 𝑒
- 39. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG
- 40. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG
- 41. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG
- 42. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Cuttlefish – Contractile + Bending
- 43. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Various Animals Lamprey Starfish Octopus Stingray Cuttlefish Simulation DoF 1209 1215 2931 1794 3288 Muscle segments 400 800 3200 150 2200 Control DoF 16 32 128 16 48 Training time with AP (hour) 17 6 47 4 44
- 44. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Conclusion • Biomimetic simulation • AP-MEM: Biomimetic movement with low control parameters • Biological design of soft-body • Deep RL-based controller • Online real-time control • Robust with collision
- 45. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG SoftCon: Simulation and Control of Soft-Bodied Animals with Biomimetic Actuators Sehee Min, Jungdam Won, Seunghwan Lee, Jungnam Park, Jehee Lee Seoul National University
- 46. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Simplified Hydrodynamics 𝐯
- 47. CONFERENCE 17-20 November 2019 - EXHIBITION 18-20 November 2019 - BCEC, Brisbane, AUSTRALIA SA2019.SIGGRAPH.ORG Simplified Hydrodynamics