Related papers: An Inextensible Model for Robotic Simulations of T…
Creating animatable avatars from static scans requires the modeling of clothing deformations in different poses. Existing learning-based methods typically add pose-dependent deformations upon a minimally-clothed mesh template or a learned…
Soft robots are interesting examples of hyper-redundancy in robotics, however, the nonlinear continuous dynamics of these robots and the use of hyper-elastic and visco-elastic materials makes modeling of these robots more complicated. This…
We present a controller that allows an arm-like manipulator to navigate deformable cloth garments in simulation through the use of haptic information. The main challenge of such a controller is to avoid getting tangled in, tearing or…
Hand-wearable robots, specifically exoskeletons, are designed to aid hands in daily activities, playing a crucial role in post-stroke rehabilitation and assisting the elderly. Our contribution to this field is a textile robotic glove with…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are no good dynamic simulation tools to predict the motion or performance of a microrobot as it moves against a substrate. At…
We introduce two 2D mechanical models reproducing the evolution of two viscous tissues in contact. Their main property is to model the swirling cell motions while keeping the tissues segregated, as observed during vertebrate embryo…
Human motion prediction and trajectory forecasting are essential in human motion analysis. Nowadays, sensors can be seamlessly integrated into clothing using cutting-edge electronic textile (e-textile) technology, allowing long-term…
Obtaining dynamic models of continuum soft robots is central to the analysis and control of soft robots, and researchers have devoted much attention to the challenge of proposing both data-driven and first-principle solutions. Both avenues…
Generating realistic clothing for virtual applications like online retail and digital avatars is crucial but requires expert knowledge of 3D tools to generating believable simulations. Recently, a number of works proposed to estimate cloth…
Constitutive modeling lies at the core of mechanics, allowing us to map strains onto stresses for a material in a given mechanical setting. Historically, researchers relied on phenomenological modeling where simple mathematical…
We explore the effects of surface tension and mobility models in simulations of grain growth using threshold dynamics algorithms that allow performing large scale simulations, while naturally capturing the Herring angle condition at…
Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…
The complex ways in which humans utilize their bodies in sports and martial arts are remarkable, and human motion analysis is one of the most effective tools for robot body design and control. On the other hand, motion analysis is not easy,…
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…
Robotic manipulation of flexible objects is widely required in both industrial and service applications. Among such objects, paper-like materials exhibit distinct mechanical characteristics compared to cloth, being more sensitive to…
The deformations of flagella are important in the motility of single- and multi-flagellated bacteria. Existing numerical methods have treated flagella as extensible filaments with a large extensional modulus, resulting in a stiff numerical…
The classical models used for describing the behavior of woven fabrics do not fully account for the whole set of phenomena that occur during the testing of such materials. This lack of precision is mainly due to the absence of energy terms…
An extremal model for the plasticity of amorphous materials is studied in a simple two-dimensional anti-plane geometry. The steady-state is analyzed through numerical simulations. Long-range spatial and temporal correlations in local slip…
We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the basis for a configuration-dependent metric that quantifies…
This paper describes the pragmatic design and construction of geometric fabrics for shaping a robot's task-independent nominal behavior, capturing behavioral components such as obstacle avoidance, joint limit avoidance, redundancy…