Related papers: VIPER: Volume Invariant Position-based Elastic Rod…
A new model for computer simulation of solids, composed of bonded rigid body particles, is proposed. Vectors rigidly connected with particles are used for description of deformation of a single bond. The expression for potential energy of…
Inverse design of slender elastic structures underlies a wide range of applications in computer graphics, flexible electronics, biomedical devices, and soft robotics. Traditional optimization-based approaches, however, are often orders of…
Motivated by an application involving additively manufactured bioresorbable polymer scaffolds supporting bone tissue regeneration, we investigate the impact of uncertain geometry perturbations on the effective mechanical properties of…
The automatic shape control of deformable objects is a challenging (and currently hot) manipulation problem due to their high-dimensional geometric features and complex physical properties. In this study, a new methodology to manipulate…
We present a new approach for modelling musculoskeletal anatomy. Unlike previous methods, we do not model individual muscle shapes as geometric primitives (polygonal meshes, NURBS etc.). Instead, we adopt a volumetric segmentation approach…
The position-based dynamics (PBD) algorithm is a popular and versatile technique for real-time simulation of deformable bodies, but is only applicable to forces that can be expressed as linearly compliant constraints. In this work, we…
Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…
We study the dynamics of extended rod-like bodies in (or associated with) membranes and films. We demonstrate a striking difference between the mobilities in films and bulk fluids, even when the dissipation is dominated by the fluid stress:…
We develop general methods to calculate the mobilities of extended bodies in (or associated with) membranes and films. We demonstrate a striking difference between in-plane motion of rod-like inclusions and the corresponding case of bulk…
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…
The assembly of curved protein rods on fluid membranes is studied using implicit-solvent meshless membrane simulations. As the rod curvature increases, the rods on a membrane tube assemble along the azimuthal direction first and…
We explore the recently-proposed Virtual Element Method (VEM) for numerical solution of boundary value problems on arbitrary polyhedral meshes. More specifically, we focus on the elasticity equations in three-dimensions and elaborate upon…
The dynamics of a set of rods bouncing on a vertically vibrated plate is investigated using experiments, simulations, and theoretical analysis. The experiments and simulations are performed within an annulus to impose periodic boundary…
We compare an inviscid vortex sheet model with continuous leading-edge shedding with direct Navier-Stokes simulations over a wide range of unsteady plate motions at moderate Reynolds number ($\mathrm{Re} \approx 1000$). Approximately $70$…
Goal: A limitation in robotic surgery is the lack of force feedback, due to challenges in suitable sensing techniques. To enhance the perception of the surgeons and precise force rendering, estimation of these forces along with tissue…
We consider the approximation of the 2D frictionless contact problem in elasticity using the Virtual Element Methods (VEMs). To overcome the volumetric locking phenomenon in the nearly incompressible case, we adopt a mixed…
Deformable object manipulation requires computationally efficient representations that are compatible with robotic sensing modalities. In this paper, we present VIRDO:an implicit, multi-modal, and continuous representation for…
Mechanical interactions between rigid rings and flexible cables find broad application in both daily life (hanging clothes) and engineering systems (closing a tether-net). A reduced-order method for the dynamic analysis of sliding rings on…
We present a Virtual Element Method (VEM) for possibly nonlinear elastic and inelastic problems, mainly focusing on a small deformation regime. The numerical scheme is based on a low-order approximation of the displacement field, as well as…
A model (further referred to as the enhanced vector-based model or EVM) for elastic bonds in solids, composed of bonded particles is presented. The model can be applied for a description of elastic deformation of rocks, ceramics, concrete,…