139 citations · 527 across the 41 of their papers we have counts for
7 papers · 1 filter
A remeshed vortex method for mixed rigid/soft body fluid--structure interaction
Yashraj Bhosale, Tejaswin Parthasarathy, Mattia Gazzola
We outline a 2D algorithm for solving incompressible flow--structure interaction problems for mixed rigid/soft body representations, within a consistent framework based on the reme…
A hyperelastic oscillatory Couette system
Tejaswin Parthasarathy, Yashraj Bhosale, Mattia Gazzola
We report (semi-)analytical solutions of a problem involving a visco-hyperelastic solid material layer sandwiched between two fluid layers, in turn confined by two long planar wall…
Controlling a CyberOctopus Soft Arm with Muscle-like Actuation
Heng-Sheng Chang, Udit Halder, Ekaterina Gribkova +4
This paper presents an application of the energy shaping methodology to control a flexible, elastic Cosserat rod model of a single octopus arm. The novel contributions of this work…
Optimal Control of a Soft CyberOctopus Arm
Tixian Wang, Udit Halder, Heng-Sheng Chang +2
In this paper, we use the optimal control methodology to control a flexible, elastic Cosserat rod. An inspiration comes from stereotypical movement patterns in octopus arms, which…
Elastica: A compliant mechanics environment for soft robotic control
Noel Naughton, Jiarui Sun, Arman Tekinalp +2
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodol…
Energy Shaping Control of a CyberOctopus Soft Arm
Heng-Sheng Chang, Udit Halder, Chia-Hsien Shih +7
This paper entails application of the energy shaping methodology to control a flexible, elastic Cosserat rod model. Recent interest in such continuum models stems from applications…
Centralized model predictive control with distributed adaptation
Prabhat K. Mishra, Tixian Wang, Mattia Gazzola +1
A centralized model predictive controller (MPC), which is unaware of local uncertainties, for an affine discrete time nonlinear system is presented. The local uncertainties are ass…