FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W4385413710> ?p ?o ?g. }

• W4385413710 endingPage "5838" @default.
• W4385413710 startingPage "5831" @default.
• W4385413710 abstract "A new, and extremely efficient, computational modeling paradigm is introduced here for specific finite elasticity problems that arise in the context of soft robotics. Whereas continuum mechanics is a very classical area of study that is broadly applicable throughout engineering, and significant effort has been devoted to the development of intricate constitutive models for finite elasticity, we show that for the most part, the isochoric (locally volume-preserving) constraint dominates behavior in common soft robotics contexts, and this can be built into closed-form kinematic deformation fields before even considering other aspects of constitutive modeling. We therefore focus on developing and applying primitive deformations that each observe this constraint. By composing a wide enough variety of such deformations, many of the most common behaviors observed in soft robots can be replicated. Case studies include isotropic objects subjected to different boundary conditions, a non-isotropic helically-reinforced tube, and a not-purely-kinematic scenario with gravity loading. We show that this method is at least 50 times faster than the ABAQUS implementation of the finite element method (FEM), and has speed comparable with the real-time FEM framework SOFA. Experiments show that both our method and ABAQUS have approximately 10% error relative to experimentally measured displacements, as well as to each other. And our method outperforms SOFA when the deformation is highly nonlinear. Our method provides a real-time alternative to FEM, and captures essential degrees of freedom for potential use in feedback control systems." @default.
• W4385413710 created "2023-08-01" @default.
• W4385413710 creator A5012775344 @default.
• W4385413710 creator A5065726376 @default.
• W4385413710 date "2023-09-01" @default.
• W4385413710 modified "2023-09-25" @default.
• W4385413710 title "Model Reduction in Soft Robotics Using Locally Volume-Preserving Primitives" @default.
• W4385413710 cites W1515749184 @default.
• W4385413710 cites W1596004456 @default.
• W4385413710 cites W1605573896 @default.
• W4385413710 cites W1614964691 @default.
• W4385413710 cites W1846645567 @default.
• W4385413710 cites W1902605501 @default.
• W4385413710 cites W1967631322 @default.
• W4385413710 cites W2027454283 @default.
• W4385413710 cites W2054427316 @default.
• W4385413710 cites W2072911195 @default.
• W4385413710 cites W2097770951 @default.
• W4385413710 cites W2117043578 @default.
• W4385413710 cites W2122398245 @default.
• W4385413710 cites W2137670317 @default.
• W4385413710 cites W2167667767 @default.
• W4385413710 cites W2168393068 @default.
• W4385413710 cites W2188087069 @default.
• W4385413710 cites W2521333807 @default.
• W4385413710 cites W2766759288 @default.
• W4385413710 cites W2843252114 @default.
• W4385413710 cites W2913446864 @default.
• W4385413710 cites W2959442911 @default.
• W4385413710 cites W3000160985 @default.
• W4385413710 cites W3008109267 @default.
• W4385413710 cites W3133349997 @default.
• W4385413710 cites W3204719635 @default.
• W4385413710 cites W4313639260 @default.
• W4385413710 doi "https://doi.org/10.1109/lra.2023.3300226" @default.
• W4385413710 hasPublicationYear "2023" @default.
• W4385413710 type Work @default.
• W4385413710 citedByCount "0" @default.
• W4385413710 crossrefType "journal-article" @default.
• W4385413710 hasAuthorship W4385413710A5012775344 @default.
• W4385413710 hasAuthorship W4385413710A5065726376 @default.
• W4385413710 hasBestOaLocation W43854137101 @default.
• W4385413710 hasConcept C111335779 @default.
• W4385413710 hasConcept C121332964 @default.
• W4385413710 hasConcept C121854251 @default.
• W4385413710 hasConcept C127413603 @default.
• W4385413710 hasConcept C134306372 @default.
• W4385413710 hasConcept C135628077 @default.
• W4385413710 hasConcept C151730666 @default.
• W4385413710 hasConcept C154945302 @default.
• W4385413710 hasConcept C158622935 @default.
• W4385413710 hasConcept C164660894 @default.
• W4385413710 hasConcept C184050105 @default.
• W4385413710 hasConcept C2524010 @default.
• W4385413710 hasConcept C2776036281 @default.
• W4385413710 hasConcept C2776058767 @default.
• W4385413710 hasConcept C2779343474 @default.
• W4385413710 hasConcept C33923547 @default.
• W4385413710 hasConcept C34413123 @default.
• W4385413710 hasConcept C39920418 @default.
• W4385413710 hasConcept C41008148 @default.
• W4385413710 hasConcept C62520636 @default.
• W4385413710 hasConcept C66938386 @default.
• W4385413710 hasConcept C74650414 @default.
• W4385413710 hasConcept C86803240 @default.
• W4385413710 hasConcept C90509273 @default.
• W4385413710 hasConcept C97355855 @default.
• W4385413710 hasConceptScore W4385413710C111335779 @default.
• W4385413710 hasConceptScore W4385413710C121332964 @default.
• W4385413710 hasConceptScore W4385413710C121854251 @default.
• W4385413710 hasConceptScore W4385413710C127413603 @default.
• W4385413710 hasConceptScore W4385413710C134306372 @default.
• W4385413710 hasConceptScore W4385413710C135628077 @default.
• W4385413710 hasConceptScore W4385413710C151730666 @default.
• W4385413710 hasConceptScore W4385413710C154945302 @default.
• W4385413710 hasConceptScore W4385413710C158622935 @default.
• W4385413710 hasConceptScore W4385413710C164660894 @default.
• W4385413710 hasConceptScore W4385413710C184050105 @default.
• W4385413710 hasConceptScore W4385413710C2524010 @default.
• W4385413710 hasConceptScore W4385413710C2776036281 @default.
• W4385413710 hasConceptScore W4385413710C2776058767 @default.
• W4385413710 hasConceptScore W4385413710C2779343474 @default.
• W4385413710 hasConceptScore W4385413710C33923547 @default.
• W4385413710 hasConceptScore W4385413710C34413123 @default.
• W4385413710 hasConceptScore W4385413710C39920418 @default.
• W4385413710 hasConceptScore W4385413710C41008148 @default.
• W4385413710 hasConceptScore W4385413710C62520636 @default.
• W4385413710 hasConceptScore W4385413710C66938386 @default.
• W4385413710 hasConceptScore W4385413710C74650414 @default.
• W4385413710 hasConceptScore W4385413710C86803240 @default.
• W4385413710 hasConceptScore W4385413710C90509273 @default.
• W4385413710 hasConceptScore W4385413710C97355855 @default.
• W4385413710 hasFunder F4320320671 @default.
• W4385413710 hasIssue "9" @default.
• W4385413710 hasLocation W43854137101 @default.
• W4385413710 hasOpenAccess W4385413710 @default.
• W4385413710 hasPrimaryLocation W43854137101 @default.
• W4385413710 hasRelatedWork W1575455118 @default.

• next