Related papers: A collision model for very flexible Cosserat rods …
This paper introduces a sharp-interface approach to simulating fluid-structure interaction involving flexible bodies described by general nonlinear material models and across a broad range of mass density ratios. This new flexible-body…
In this paper, the modelling strategy of a Cosserat rod element (CRE) is addressed systematically for 3-dimensional dynamical analysis of slender structures. We employ the exact nonlinear kinematic relationships in the sense of Cosserat…
This paper presents a new method for modeling the mechanics of the aortic valve, and simulates its interaction with blood. As much as possible, the model construction is based on first principles, but such that the model is consistent with…
We consider a system of multiple insulating rigid bodies moving inside of an electrically conducting compressible fluid. In this system we take into account the interaction of the fluid with the bodies as well as with the electromagnetic…
We present a nonlinear, geometrically exact, and thermodynamically consistent framework for modeling special Cosserat rods with evolving natural configurations. In contrast to the common usage of the point-wise Clausius-Duhem inequality to…
In this work, we study the mechanics of metamaterial sheets inspired by the pellicle of Euglenids. They are composed of interlocking elastic rods which can freely slide along their edges. We characterize the kinematics and the mechanics of…
Many fundamental challenges in robotics, based in manipulation or locomotion, require making and breaking contact with the environment. To represent the complexity of frictional contact events, impulsive impact models are especially…
In this work, we present a computational formulation based on continuum mechanics to study the interaction of fluid membranes embedded with semiflexible filaments. This is motivated by systems in membrane biology, such as cytoskeletal…
We present a new geometrically nonlinear Cosserat shell model incorporating effects up to order $O(h^5)$ in the shell thickness $h$. The method that we follow is an educated 8-parameter ansatz for the three-dimensional elastic shell…
In this work, we study the motion of a rigid body in a bounded domain which is filled with a compressible isentropic fluid. We consider the Navier-slip boundary condition at the interface as well as at the boundary of the domain. This is…
While much work has been done recently in the realm of model-based control of soft robots and soft-rigid hybrids, most works examine robots that have an inherently serial structure. While these systems have been prevalent in the literature,…
A robot making contact with an environment or human presents potential safety risks, including excessive collision force. While experiments on the effect of robot inertia, relative velocity, and interface stiffness on collision are in…
The characteristic ``in-plane" bending associated with soft robots' deformation make them preferred over rigid robots in sophisticated manipulation and movement tasks. Executing such motion strategies to precision in soft deformable robots…
A rigid-plastic Cosserat model has been used to study dense, fully developed flow of granular materials through a vertical channel. Frictional models based on the classical continuum do not predict the occurrence of shear layers, at…
In this paper, we derive the continuous space-time equations of motion of a three-dimensional geometrically exact rod, or the Cosserat rod, incorporating planar cross-sectional deformation. We then adopt the Lie group variational integrator…
Two-dimensional (planar) rigid-body impact mechanics for application in automobile collisions have been described by a number of researchers over the last several decades. Little has been discussed, however, regarding three-dimensional…
This article presents computationally efficient algorithms for modeling two special cases of rigid contact---contact with only viscous friction and contact without slip---that have particularly useful applications in robotic locomotion and…
Living organisms intertwine soft (e.g., muscle) and hard (e.g., bones) materials, giving them an intrinsic flexibility and resiliency often lacking in conventional rigid robots. The emerging field of soft robotics seeks to harness these…
The dynamical properties of entangled polymers originate from the dynamic constraints due to the uncrossability between polymer chains. We propose a highly coarse-grained simulation model with transient bonds for such dynamically…
Continuum robots are flexible, thin manipulators capable of navigating confined or delicate environments making them well suited for surgical applications. Previous approaches to continuum robot state estimation typically rely on…