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Vision-based pose estimation of articulated robots with unknown joint angles has applications in collaborative robotics and human-robot interaction tasks. Current frameworks use neural network encoders to extract image features and…
PBD and its extension, XPBD, have been predominantly applied to compliant constrained elastodynamics, with their potential in finite strain (visco-) elastoplasticity remaining underexplored. XPBD is often perceived to stand in contrast to…
Isomorphs are curves in the thermodynamic phase diagram of invariant excess entropy, structure, and dynamics, while pseudoisomorphs are curves of invariant structure and dynamics, but not of the excess entropy. The latter curves have been…
Recently, purpose-built analog hardware that can efficiently minimize the Ising energy and thereby solve a variety of combinatorial optimization problems has been receiving widespread attention. In this work, we show how multidimensional,…
Continuum robots possess high flexibility and redundancy, making them well suited for safe interaction in complex environments, yet their continuous deformation and nonlinear dynamics pose fundamental challenges to perception, modeling, and…
We consider the equilibrium equations for a conducting elastic rod placed in a uniform magnetic field, motivated by the problem of electrodynamic space tethers. When expressed in body coordinates the equations are found to sit in a…
We study the motion of a rigid elastic rod, initially set in its relaxed state along a spacelike geodesic, in an expanding Friedmann-Lema\^itre-Robertson-Walker universe. This leads to an initial boundary value problem (IBVP) for a…
It is well known that classical constitutive models fail to capture the post-peak material behaviour, due to localisation of deformation. In such cases the concept of Representative Volume Element (RVE) on which classical continuum models…
Sensing contact pressure applied by a gripper can benefit autonomous and teleoperated robotic manipulation, but adding tactile sensors to a gripper's surface can be difficult or impractical. If a gripper visibly deforms, contact pressure…
The evolution of thin axisymmetric viscous accretion disks is a classic problem in astrophysics. While models based on this simplified geometry provide only approximations to the true processes of instability-driven mass and angular…
Intraoperative observation of tissue internal structure is often difficult. Hence, real-time soft tissue deformation is essential for the localization of tumor and other internal structures. We propose a method to simulate the internal…
Haptic feedback to the surgeon during robotic surgery would enable safer and more immersive surgeries but estimating tissue interaction forces at the tips of robotically controlled surgical instruments has proven challenging. Few existing…
NVIDIA researchers have pioneered an explicit method, position-based dynamics (PBD), for simulating systems with contact forces, gaining widespread use in computer graphics and animation. While the method yields visually compelling…
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…
While rigid robots are extensively used in various applications, they are limited in the tasks they can perform and can be unsafe in close human-robot interactions. Soft robots on the other hand surpass the capabilities of rigid robots in…
This paper presents an efficient mesh deformation method based on boundary integration and neural operators, formulating the problem as a linear elasticity boundary value problem (BVP). To overcome the high computational cost of traditional…
Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…
Large deformations of soft elastic beads spinning at high angular velocity in a denser background fluid are investigated theoretically, numerically, and experimentally using millimeter-size polyacrylamide hydrogel particles introduced in a…
When subjected to specific prestresses, continuum elastic shells can exhibit geometric zero modes: complex motions that require vanishing elastic energy to excite, enabling them to be driven by weak and generic energy inputs. Despite recent…
This paper presents a phase-field model for simulating the three-dimensional deformation of vesicle membranes, incorporating area-difference elasticity, with constraints on bulk volume and surface area. We develop efficient numerical…