Related papers: A novel collision model for inextensible textiles …
We present a collision model for particle-particle and particle-wall interactions in interface-resolved simulations of particle-laden flows. Three types of inter-particle interactions are taken into account: (1) long- and (2) short-range…
Formulating a consistent theory for rigid-body dynamics with impacts is an intricate problem. Twenty years ago Stewart published the first consistent theory with purely inelastic impacts and an impulsive friction model analogous to Coulomb…
Collision detection plays an important role in simulation, control, and learning for robotic systems. However, no existing method is differentiable with respect to the configurations of the objects, greatly limiting the sort of algorithms…
Numerical simulations are used to test the kinetic theory constitutive relations of inertial granular shear flow. These predictions are shown to be accurate in the dilute regime, where only binary collisions are relevant, but underestimate…
The paper addresses the underlying source of two forms of induced anisotropy in granular materials: contact orientation anisotropy and contact force anisotropy. A rational, mathematical structure is reviewed for the manner in which fabric…
We present a framework for generating convex approximations of complex contact models, incorporating experimentally validated models like Hunt & Crossley coupled with Coulomb's law of friction alongside the principle of maximum dissipation.…
Since loose-fitting clothing contains dynamic modes that have proven to be difficult to predict via neural networks, we first illustrate how to coarsely approximate these modes with a real-time numerical algorithm specifically designed to…
We study the problem of learning physical object representations for robot manipulation. Understanding object physics is critical for successful object manipulation, but also challenging because physical object properties can rarely be…
The formation of periodic wrinkles in soft layered materials due to mechanical instabilities is prevalent in nature and has been proposed for use in multiple applications. However, such phenomena have been explored predominantly in…
In this paper, we introduce tensor involved peridynamics, a unified framework for simulating both isotropic and anisotropic materials. While traditional peridynamics models effectively simulate isotropic materials, they face challenges with…
Thin viscous fluid threads falling onto a moving belt behave in a way reminiscent of a sewing machine, generating a rich variety of periodic stitch-like patterns including meanders, W-patterns, alternating loops, and translated coiling.…
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…
We apply a recently developed model of cytoskeletal force generation to study a cell intrinsic contractility, as well as its response to external loading. The model is based on a non-equilibrium thermodynamic treatment of the…
This paper develops a comprehensive two-dimensional generalisation of the recently introduced Friction with Bristle Dynamics (FrBD) framework for rolling contact problems. The proposed formulation extends the one-dimensional FrBD model to…
We study the mechanics of a reversible decohesion (unzipping) of an elastic layer subjected to quasi-static end-point loading. At the micro level the system is simulated by an elastic chain of particles interacting with a rigid foundation…
Abridged abstract: Inert interactions between randomly moving entities and spatial disorder play a crucial role in quantifying the diffusive properties of a system. These interactions affect only the movement of the entities, and examples…
We present a novel convex formulation that models rigid and deformable bodies coupled through frictional contact. The formulation incorporates a new corotational material model with positive semi-definite Hessian, which allows us to extend…
In order to develop predictive wear laws, relevant material parameters and their influence on the wear rate need to be identified. Despite decades of research, there is no agreement on the mathematical form of wear equations and even the…
Soft polymers are ubiquitous materials in nature and as engineering materials with properties varying from rate-independent to rate-dependent. Current fracture toughness measures are non-unique for rate-dependent soft materials for varying…
Humans represent and discriminate the objects in the same category using their properties, and an intelligent robot should be able to do the same. In this paper, we build a robot system that can autonomously perceive the object properties…