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Minh Q. Ta

The Impact of Time Step Frequency on the Realism of Robotic Manipulation Simulation for Objects of Different Scales

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Oct 12, 2023
Minh Q. Ta, Holly Dinkel, Hameed Abdul-Rashid, Yangfei Dai, Jessica Myers, Tan Chen, Junyi Geng, Timothy Bretl
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This work evaluates the impact of time step frequency and component scale on robotic manipulation simulation accuracy. Increasing the time step frequency for small-scale objects is shown to improve simulation accuracy. This simulation, demonstrating pre-assembly part picking for two object geometries, serves as a starting point for discussing how to improve Sim2Real transfer in robotic assembly processes.

* 3 pages, 3 figures, Best Poster Finalist at the 2023 Robotics and AI in Future Factory Workshop at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Video presentation [https://www.youtube.com/watch?v=JOXrBpMmI0A]. Robotics and AI in Future Factory workshop [https://sites.google.com/view/robot-ai-future-factory/] 
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