Related papers: Low-Mach-number--slenderness limit for elastic Cos…
In this paper, the modelling strategy of a Cosserat rod element (CRE) is addressed systematically for 3-dimensional dynamical analysis of slender structures. We employ the exact nonlinear kinematic relationships in the sense of Cosserat…
The spinning of slender viscous jets can be described asymptotically by one-dimensional models that consist of systems of partial and ordinary differential equations. Whereas the well-established string models possess only solutions for…
The subject of this paper is the study of the asymptotic behaviour of the equilibrium configurations of a nonlinearly elastic thin rod, as the diameter of the cross-section tends to zero. Convergence results are established assuming…
Slender structures are ubiquitous in biological and physical systems, from bacterial flagella to soft robotic arms. The Cosserat rod provides a mathematical framework for slender bodies that can stretch, shear, twist and bend. In viscous…
We present and analyse a numerical method for understanding the low-inertia dynamics of an open, inextensible viscoelastic rod - a long and thin three dimensional object - representing the body of a long, thin microswimmer. Our model allows…
The design and control of soft robots operating in fluid environments requires a careful understanding of the interplay between large elastic body deformations and hydrodynamic forces. Here we show that this interplay leads to novel…
We rigorously derive an effective bending model for elastoplastic rods starting from three-dimensional finite plasticity. For the derivation we lean on a framework of evolutionary $\Gamma$-convergence for rate-independent systems. The main…
This paper aims to study the convergence of solutions in three-dimensional nonlinear elastodynamics for a thin rod as its cross section shrinks to zero for displacements that are comparable to the small radius of the rod. Assuming the…
We prove the incompressible limit of non-isentropic inviscid elastodynamic equations with general initial data in 3D half-space. The deformation tensor is assumed to satisfy the neo-Hookean linear elasticity and degenerates in the normal…
This paper is devoted to describe the deformations and the elastic energy for structures made of straight rods of thickness $2\delta$ when $\delta$ tends to 0. This analysis relies on the decomposition of the large deformation of a single…
Soft slender robots have attracted more and more research attentions in these years due to their continuity and compliance natures. However, mechanics modeling for soft robots interacting with environment is still an academic challenge…
Controlling soft continuum robotic arms is challenging due to their hyper-redundancy and dexterity. In this paper we demonstrate, for the first time, closed-loop control of the configuration space variables of a soft robotic arm, composed…
We present an all speed scheme for the Euler-Korteweg model. We study a semi-implicit time-discretisation which treats the terms, which are stiff for low Mach numbers, implicitly and thereby avoids a dependence of the timestep restriction…
This paper is devoted to the study of the low Mach number limit for the isentropic Euler system with axisymmetric initial data without swirl. In the first part of the paper we analyze the problem corresponding to the subcritical…
Compared with traditional rigid-body robots, soft robots not only exhibit unprecedented adaptation and flexibility but also present novel challenges in their modeling and control because of their infinite degrees of freedom. Most of the…
Motivated by observations of snap-through phenomena in buckled elastic strips subject to clamping and lateral end translations, we experimentally explore the multi-stability and bifurcations of thin bands of various widths and compare these…
Cosserat rod theory is the popular approach to modeling ferromagnetic soft robots as 1-Dimensional (1D) slender structures in most applications, such as biomedical. However, recent soft robots designed for locomotion and manipulation often…
This paper presents an isogeometric finite element formulation for nonlinear beams with impenetrability constraints, based on the kinematics of Cosserat rods with unconstrained directors. The beam cross-sectional deformation is represented…
We examine the problem of snake-like locomotion by studying a system consisting of a planar inextensible elastic rod that is able to control its spontaneous curvature. Using a Cosserat model we derive, through variational principles, the…
In this paper we study the asymptotic behavior of a structure made of curved rods of thickness 2\delta when \delta rightarrow 0. This study is carried on within the frame of linear elasticity by using the unfolding method. It is based on…