Related papers: VIPER: Volume Invariant Position-based Elastic Rod…
Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…
In this paper, we study applications of the virtual element method (VEM) for simulating the deformation of multiphase composites. The VEM is a Galerkin approach that is applicable to meshes that consist of arbitrarily-shaped polygonal and…
Voxel-grid reinforcement learning is widely adopted for path planning in redundant manipulators due to its simplicity and reproducibility. However, direct execution through point-wise numerical inverse kinematics on 7-DoF arms often yields…
Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but robotic aid is still underrepresented in procedures with constrained workspaces, such as deep brain neurosurgery and endonasal surgery. In these…
This paper presents a numerical method for the simulation of fluid-structure interaction specifically tailored to interactions between Newtonian fluids and a large number of slender viscoelastic Cosserat rods. Because of their high…
We propose a new methodology to estimate the 3D displacement field of deformable objects from video sequences using standard monocular cameras. We solve in real time the complete (possibly visco-)hyperelasticity problem to properly describe…
Thick rods are employed in Nanotechnology to build modern electro mechanical systems. Design and optimization of such structures can be carried out by nonlocal continuum mechanics which is computationally convenient when compared to…
We present a velocity-based moving mesh virtual element method for the numerical solution of PDEs involving moving boundaries. The virtual element method is used for computing both the mesh velocity and a conservative Arbitrary…
We propose a reduced-space elasto-dynamic solver that is well suited for augmenting rigged character animations with secondary motion. At the core of our method is a novel deformation subspace based on Linear Blend Skinning that overcomes…
A method for simulation of elastoplastic solids in multibody systems with nonsmooth and multidomain dynamics is developed. The solid is discretised into pseudo-particles using the meshfree moving least squares method. The particles carry…
We identify the restricted class of attainable effective deformations in a model of reinforced composites with parallel, long, and fully rigid fibers embedded in an elastic body. In mathematical terms, we characterize the weak limits of…
We propose bending energies for isotropic elastic plates and shells. For a plate, we define and employ a surface tensor that symmetrically couples stretch and curvature such that any elastic energy density constructed from its invariants is…
Imitation learning is a prominent paradigm for robotic manipulation. However, existing visual imitation methods map 2D image observations directly to 3D action outputs, imposing a 2D-3D mismatch that hinders spatial reasoning and degrades…
In this paper, an enhanced Virtual Element Method (VEM) formulation is proposed for plane elasticity. It is based on the improvement of the strain representation within the element, without altering the degree of the displacement…
To produce sounds, we adjust the tension of our vocal folds to shape their properties and control the pitch. This efficient mechanism offers inspiration for designing reconfigurable materials and adaptable soft robots. However,…
Deformable elastic bodies in viscous and viscoelastic media constitute a large portion of synthetic and biological complex fluids. We present a parallelized 3D-simulation methodology which fully resolves the momentum balance in the solid…
Vortex-induced vibrations (VIV) pose computationally expensive problems of high practical interest to several engineering fields. In this work we develop a non-intrusive, reduced-order modelling methodology for two-dimensional (2D) VIV…
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…
Physical simulation relies on spatially-varying mechanical properties, often laboriously hand-crafted. VoMP is a feed-forward method trained to predict Young's modulus ($E$), Poisson's ratio ($\nu$), and density ($\rho$) throughout the…
Position based dynamics is a powerful technique for simulating a variety of materials. Its primary strength is its robustness when run with limited computational budget. We develop a novel approach to address problems with PBD for…