构建可模拟太空机器人接触运动的高效仿真框架，支持在轨服务与制造。
mjorbit: A Simulation Framework for Space Robotics
- 基于MuJoCo构建，融合轨道动力学与机器人控制模块。
- 支持高精度实时仿真，CPU延迟低，GPU吞吐量高。
- 适用于在轨装配、维修等场景，支持强化学习与模型预测控制。
本文提出一种通用的多体太空机器人接触仿真框架mjorbit。通过实证比较轨道传播与现有机器人仿真框架的耦合方法，构建了基于广泛使用的MuJoCo引擎的灵活高性能系统，集成航天器动力学、执行器与传感器模块。提供低延迟的C++ CPU后端和高吞吐的GPU后端，搭配简洁的Python API。通过多个真实在轨案例验证，支持模型预测控制与强化学习。开源代码及示例已发布于https://johnzhang3.github.io/mjorbit/。
原文摘要 · Abstract (English)
This paper presents a general framework for simulating multi-body space robots with contact. We bring efficient, large-scale robot simulation to in-space servicing, assembly, and manufacturing applications. First, we perform an empirical trade study of methods for coupling orbit propagation with existing robotics simulation frameworks. Next, we present mjorbit, a general, flexible, and performant framework built on the MuJoCo engine widely used in robotics, to which we add key spacecraft dynamics, actuators, and sensors. We provide a low-latency C++ CPU backend and a high-throughput GPU backend behind a simple Python API. We demonstrate mjorbit by solving several realistic on-orbit case studies with both model-predictive control and reinforcement learning. Open-source code and examples are available at: https://johnzhang3.github.io/mjorbit/
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。