2 papers
cs.GR2025
Fast But Accurate: A Real-Time Hyperelastic Simulator with Robust Frictional Contact
Ziqiu Zeng, Siyuan Luo, Fan Shi +1
We present a GPU-friendly framework for real-time implicit simulation of elastic material in the presence of frictional contacts. The integration of hyperelasticity, non-interpenet…
cs.RO2025
Accelerated Quasi-Static FEM for Real-Time Modeling of Continuum Robots with Multiple Contacts and Large Deformation
Hao Chen, Jian Chen, Xinran Liu +4
Continuum robots offer high flexibility and multiple degrees of freedom, making them ideal for navigating narrow lumens. However, accurately modeling their behavior under large def…