Related papers: A component-level co-rotational 3D continuum finit…
This paper presents a general, nonlinear isogeometric finite element formulation for rotation-free shells with embedded fibers that captures anisotropy in stretching, shearing, twisting and bending -- both in-plane and out-of-plane. These…
We develop a fractional return-mapping framework for power-law visco-elasto-plasticity. In our approach, the fractional viscoelasticity is accounted through canonical combinations of Scott-Blair elements to construct a series of well-known…
In this paper, we construct an explicit, second-order, and maximum-principle-preserving Crouzeix-Raviart (CR) finite element method for two-dimensional time-dependent transport equation. The key observation is that the mass matrix of the CR…
We present a stable finite element method for incompressible nonlinear elasticity based on a four-field mixed formulation involving the displacement, displacement gradient, first Piola--Kirchhoff stress and pressure. Unlike existing…
Continuum robots (CRs), owing to their compact structure, inherent compliance, and flexible deformation, have been widely applied in various fields. By coordinating multiple CRs to form collaborative continuum robots (CCRs), task…
The current dominant paradigm for robotic manipulation involves two separate stages: manipulator design and control. Because the robot's morphology and how it can be controlled are intimately linked, joint optimization of design and control…
Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…
Fast and modular modeling of multi-legged robots (MLRs) is essential for resilient control, particularly under significant morphological changes caused by mechanical damage. Conventional fixed-structure models, often developed with…
The paper presents a two-dimensional geometrically nonlinear formulation of a beam element that can accommodate arbitrarily large rotations of cross sections. The formulation is based on the integrated form of equilibrium equations, which…
We introduce a new class of mixed finite element methods for 2D and 3D compressible nonlinear elasticity. The independent unknowns of these conformal methods are displacement, displacement gradient, and the first Piola-Kirchhoff stress…
The main objective of this study is to propose a methodology to build a parametric linear model of Flexible Multibody Systems for control design. This approach uses a combined Finite Element - State Space Approach based on component modes…
Lattice-type structures can provide a combination of stiffness with light weight that is desirable in a variety of applications. Design optimization of these structures must rely on approximations of the governing physics to render solution…
We present a methodology to simulate the mechanics of knots in elastic rods using geometrically nonlinear, full three-dimensional (3D) finite element analysis. We focus on the mechanical behavior of knots in tight configurations, for which…
Replicating and surpassing the autonomy of natural organisms remains a long-standing goal in robotics. Yet most robotic systems have their structure, materials, and control designed separately, in sharp contrast to the co-evolution in…
We present a three-dimensional (3D) partitioned aeroelastic formulation for a flexible multibody system interacting with incompressible turbulent fluid flow. While the incompressible Navier-Stokes system is discretized using a stabilized…
This study presents a rigid-deformation decomposition framework for vehicle collision dynamics that mitigates the spectral bias of implicit neural representations, that is, coordinate-based neural networks that directly map spatio-temporal…
Robotics is shifting from rigid, articulated systems to more sophisticated and heterogeneous mechanical structures. Soft robots, for example, have continuously deformable elements capable of large deformations. The flourishing of control…
We propose a simple and efficient scheme based on adaptive finite elements over conforming quadtree meshes for collapse plastic analysis of structures. Our main interest in kinematic limit analysis is concerned with both purely…
We develop a robust and efficient iterative method for hyper-elastodynamics based on a novel continuum formulation recently developed. The numerical scheme is constructed based on the variational multiscale formulation and the…
Component Modal Synthesis (CMS) is a reduced order modelling method widely used for large-scale complex systems. It can effectively approximate system-level models through component synthesis, in which the repetitive geometrical components…