Soft creatures
Made of filaments that stretch, shear, bend and twist
From bridges and DNA to shoelaces, the ubiquity of elastic rods or filaments plays an important role in everyday life. We develop numerics for the simulation of soft filaments deforming in three-dimensional space, and accounting for all possible deformation modes, bending, twisting, shearing and stretching at every cross-section. Our assemblies of soft curves are able to interact with the environment via models of muscular activity, sensory feedbacks, self-contact, surface friction and hydrodynamics, thus providing a physically accurate virtual playground to inquire into the functioning of complex muscular and robotics architectures
Bibliography
- Wang, Zhang, Park, Park, Kilicarslan, Kim, Dou, Bashir, Gazzola*, Computationally assisted design and selection of maneuverable biological walking machines, Advanced Intelligent Systems, 2021.
- Naughton, Sun, Tekinalp, Parthasarathy, Chowdhary, Gazzola*, Elastica: A compliant mechanics environment for soft robotic control, IEEE Robotics and Automation Letters, 2021.
- Chang, Halder, Shih, Tekinalp, Parthasarathy, Gribkova, Chowdhary, Gillette, Gazzola, Mehta, Energy shaping control of a CyberOctopus soft arm, IEEE Conference on Decision and Control (CDC), 2020.
- Charles, Gazzola, Mahadevan, Topology, geometry, and mechanics of strongly stretched and twisted filaments: solenoids, plectonemes, and artificial muscle fibers, Physical Review Letters, 2019.
- Zhang, Chan, Parthasarathy, Gazzola*, Modeling and simulation of complex dynamic musculoskeletal architectures, Nature Communications, 2019.
- Aydin, Zhang, Nuethong, Pagan-Diaz, Bashir, Gazzola*, Saif, Neuromuscular actuation of biohybrid motile bots, Proceedings of the National Academy of Sciences, 2019.
- Pagan‐Diaz, Zhang, Grant, Kim, Aydin, Cvetkovic, Ko, Solomon, Hollis, Kong, Saif, Gazzola, Bashir, Simulation and fabrication of stronger, larger and faster walking biohybrid machines, Advanced Functional Materials, 2018.
- Gazzola, Dudte, McCormick, Mahadevan, Forward and inverse problems in the mechanics of soft filaments, Royal Society Open Science, 2018.
Research Projects
Soft CreaturesSoft Creatures
CyborgsProject type
Bio-locomotion in FluidProject type
Viscous StreamingViscous Streaming
Flow NumericsProject type
The Vizzies 2016The Vizzies 2016
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