Related papers: VIPER: Volume Invariant Position-based Elastic Rod…
A variational approach is employed to find stationary solutions to a free boundary problem modeling an idealized electrostatically actuated MEMS device made of an elastic plate coated with a thin dielectric film and suspended above a rigid…
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…
The deformation of thin rods in a viscous liquid is central to the mechanics of motility in cells ranging from \textit{Escherichia coli} to sperm. Here we use experiments and theory to study the shape transition of a flexible rod rotating…
The viscous drag on a slender rod by a wall is important to many biological and industrial systems. This drag critically depends on the separation between the rod and the wall and can be approximated asymptotically in specific regimes,…
Inspired by the embodied intelligence of biological creatures like the octopus, the soft robotic arm utilizes its highly flexible structure to perform various tasks in the complex environment. While the classic Cosserat rod theory…
The robotic manipulation of composite rigid-deformable objects (i.e. those with mixed non-homogeneous stiffness properties) is a challenging problem with clear practical applications that, despite the recent progress in the field, it has…
3D-aware visual pretraining has proven effective in improving the performance of downstream robotic manipulation tasks. However, existing methods are constrained to Euclidean embedding spaces, whose flat geometry limits their ability to…
Soft robotic grippers facilitate contact-rich manipulation, including robust grasping of varied objects. Yet the beneficial compliance of a soft gripper also results in significant deformation that can make precision manipulation…
Scientific computing for large deformation of elastic-plastic solids is critical for numerous real-world applications. Classical numerical solvers rely primarily on local discrete linear approximation and are constrained by an inherent…
We present a versatile latent representation that enables physically simulated character to efficiently utilize motion priors. To build a powerful motion embedding that is shared across multiple tasks, the physics controller should employ…
Modeling and rendering of dynamic scenes is challenging, as natural scenes often contain complex phenomena such as thin structures, evolving topology, translucency, scattering, occlusion, and biological motion. Mesh-based reconstruction and…
We present a novel approach for the reconstruction of dynamic geometric shapes using a single hand-held consumer-grade RGB-D sensor at real-time rates. Our method does not require a pre-defined shape template to start with and builds up the…
This paper devises a novel lowest-order conforming virtual element method (VEM) for planar linear elasticity with the pure displacement/traction boundary condition. The main trick is to view a generic polygon $K$ as a new one…
We deduce a 1D model of elastic planar rods starting from the F\"{o}ppl--von K\'{a}rm\'{a}n model of thin shells. Such model is enhanced by additional kinematical descriptors that keep explicit track of the compatibility condition requested…
Experimentally measuring the elastic properties of thin biological surfaces is non-trivial, particularly when they are curved. One technique that may be used is the indentation of a thin sheet of material by a rigid indenter, whilst…
The variational discrete element method developed in [28] for dynamic elasto-plastic computations is adapted to compute the deformation of elastic Cosserat materials. In addition to cellwise displacement degrees of freedom (dofs), cellwise…
We introduce a novel regularization for localizing an elastic-energy-driven deformation to only those regions being manipulated by the user. Our local deformation features a natural region of influence, which is automatically adaptive to…
We introduce a novel approach to simulate the interaction between fluids and thin elastic solids without any penetration. Our approach is centered around an optimization system augmented with barriers, which aims to find a configuration…
We aim to solve the problem of manipulating deformable objects, particularly elastic bands, in real-world scenarios. However, deformable object manipulation (DOM) requires a policy that works on a large state space due to the unlimited…
Molecular dynamics simulations frequently employ periodic boundary conditions where the positions of the periodic images are manipulated in order to apply deformation to the material sample. For example, Lees-Edwards conditions use moving…