Related papers: Geometrically Exact Hard Magneto-Elastic Cosserat …
Active control of wrinkling in soft film-substrate composites using electric fields is a critical challenge in tunable material systems. Here, we investigate the electro-mechanical instability of a soft dielectric film bonded to a…
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…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
Parallel Continuum Robots (PCR) are closed-loop mechanisms but use elastic kinematic links connected in parallel between the end-effector (EE) and the base platform. PCRs are actuated primarily through large deflections of the…
A geometrically exact dimensionally reduced order model for the nonlinear deformation of thin magnetoelastic shells is presented. The Kirchhoff-Love assumptions for the mechanical fields are generalised to the magnetic variables to derive a…
We suggest an alternative mathematical model for the electron in dimension 1+2. We think of our (1+2)-dimensional spacetime as an elastic continuum whose material points can experience no displacements, only rotations. This framework is a…
We argue that the standard classification of isometric deformations into infinitesimal v.s. finite is inadequate for the study of compliant shell mechanisms. Indeed, many compliant shells, particularly ones that are periodically corrugated,…
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 goal of this paper is to apply the recently developed theory of buckling of arbitrary slender bodies to a tractable yet non-trivial example of buckling in axially compressed circular cylindrical shells, regarded as three-dimensional…
We consider an infinite 3-dimensional elastic continuum whose material points experience no displacements, only rotations. This framework is a special case of the Cosserat theory of elasticity. Rotations of material points are described…
For the finite element simulation of thin soft biological tissues in dynamics, shell elements, compared to volume elements, can capture the whole tissue thickness at once, and feature larger critical time steps. However, the capabilities of…
This paper introduces a novel approach for modeling the dynamics of soft robots, utilizing a differentiable filter architecture. The proposed approach enables end-to-end training to learn system dynamics, noise characteristics, and temporal…
We derive an asymptotically consistent morphoelastic shell model to describe the finite deformations of biological tissues using the variational asymptotical method. Biological materials may exhibit remarkable compressibility when under…
Algorithms that use derivatives of governing equations have accelerated rigid robot simulations and improved their accuracy, enabling the modeling of complex, real-world capabilities. However, extending these methods to soft and hybrid…
In this paper, we introduce a new approach for soft robot shape formation and morphing using approximate distance fields. The method uses concepts from constructive solid geometry, R-functions, to construct an approximate distance function…
In this paper, we propose a novel one-dimensional (1D) discrete differential geometry (DDG)-based numerical method for geometrically nonlinear mechanics analysis (e.g., buckling and snapping) of axisymmetric shell structures. Our numerical…
Imagine a swarm of terrestrial robots that can explore an environment, and, upon completion of this task, reconfigure into a spherical ball and roll out. This dimensional change alters the dynamics of locomotion and can assist them to…
As soft robot design matures, researchers have converged to sophisticated design paradigms to enable the development of more suitable platforms. Two such paradigms are soft-rigid hybrid robots, which utilize rigid structural materials in…
Shells are ubiquitous thin structures that can undergo large nonlinear elastic deformations while exhibiting combined modes of bending and stretching, and have profound modern applications. In this paper, we have proposed a new Isogeometric…
An accurate, physically-based, and differentiable model of soft robots can unlock downstream applications in optimal control. The Finite Element Method (FEM) is an expressive approach for modeling highly deformable structures such as…