Related papers: VIPER: Volume Invariant Position-based Elastic Rod…
This paper presents a new method for modelling the dynamic behaviour of developable ribbons, two dimensional strips with much smaller width than length. Instead of approximating such surface with a general triangle mesh, we characterize it…
The proliferation of 3D representations, from explicit meshes to implicit neural fields and more, motivates the need for simulators agnostic to representation. We present a data-, mesh-, and grid-free solution for elastic simulation for any…
In this paper we consider and generalize a model, recently proposed and analytically investigated in its quasi-stationary approximation by the authors, for visco-elasticity with large deformations and conditional compatibility, where the…
Compared to traditional rigid robotics, soft robotics has attracted increasing attention due to its advantages as compliance, safety, and low cost. As an essential part of soft robotics, the soft robotic gripper also shows its superior…
Integral expressions are determined for the elastic displacement and stress fields due to stationary or moving dislocation loops in finite samples. These general expressions are valid for anisotropic media as well. Specifically for the…
Grids are a general representation for capturing regularly-spaced information, but since they are uniform in space, they cannot dynamically allocate resolution to regions with varying levels of detail. There has been some exploration of…
The fluid flow around a bluff body is complex and time dependent, which also contains a wide range of time and length scales. The first few eigenmodes of the proper orthogonal decomposition (POD) of such a flow provide significant insight…
Manipulating volumetric deformable objects in the real world, like plush toys and pizza dough, bring substantial challenges due to infinite shape variations, non-rigid motions, and partial observability. We introduce ACID, an…
We present a hybrid Eulerian-Lagrangian method for the direct simulation of three-dimensional, heterogeneous structures made of soft fibers and immersed in incompressible viscous fluids. Fiber-based organization of matter is pervasive in…
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…
Integral expressions are determined for the elastic displacement and stress fields due to stationary or moving dislocation loops in three dimensional, not necessarily isotropic, finite samples. A line integral representation is found for…
Rod-based structures are commonly used in practical applications in science and engineering. However, in many design, analysis, and manufacturing tasks, handling the rod-based structures in three dimensions directly is generally…
We consider a dilute solution of infinitely rigid rods near a curved, perfectly repulsive surface and study the contribution of the rod depletion layer to the bending elastic constants of membranes. We find that a spontaneous curvature…
In this paper, we consider rods whose thickness vary linearly between $\eps$ and $\eps^2$. Our aim is to study the asymptotic behavior of these rods in the framework of the linear elasticity. We use a decomposition method of the…
Calculating by analytical theory the deformation of finite-sized elastic bodies in response to internally applied forces is a challenge. Here, we derive explicit analytical expressions for the amplitudes of modes of surface deformation of a…
Autonomy in robotic surgery is very challenging in unstructured environments, especially when interacting with deformable soft tissues. The main difficulty is to generate model-based control methods that account for deformation dynamics…
This paper develops the equilibrium equations describing the flexoelectric effect in soft dielectrics under large deformations. Previous works have developed related theories using a flexoelectric coupling tensor of mixed material-spatial…
Soft robots have garnered significant attention due to their promising applications across various domains. A hallmark of these systems is their bilayer structure, where strain mismatch caused by differential expansion between layers…
We propose a method for the description and simulation of the nonlinear dynamics of slender structures modeled as Cosserat rods. It is based on interpreting the strains and the generalized velocities of the cross sections as basic variables…
We extend the Locally-Subdivided Neural Intersection Function (LSNIF) to support parameterized deformable and animated geometry. Our approach introduces a rest-space and deformed-space formulation inspired by meshless rendering, allowing…