Dynamic Simulation of Soft Heterogeneous Objects

by   Jonathan Hiller, et al.

This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating compliant mechanisms. These normally assume small deformations with homogeneous material properties actuated with external forces. There is also a large body of research on physically-based deformable objects for applications in computer graphics with the purpose of generating realistic appearances at the expense of accuracy. Here we present a simulation framework in which an object may be composed of any number of interspersed materials with varying properties (stiffness, density, etc.) to enable true heterogeneous multi-material simulation. Collisions are handled to prevent self-penetration due to large deformation, which also allows multiple bodies to interact. A volumetric actuation method is implemented to impart motion to the structures which opens the door to the design of novel structures and mechanisms. The simulator was implemented efficiently such that objects with thousands of degrees of freedom can be simulated at suitable framerates for user interaction using a single thread of a typical desktop computer. The code is written in platform agnostic C++ and is fully open source. This research opens the door to the dynamic simulation of freeform 3D multi-material mechanisms and objects in a manner suitable for design automation.


page 2

page 3

page 7

page 10


A Massively-Parallel 3D Simulator for Soft and Hybrid Robots

Simulation is an important step in robotics for creating control policie...

ChainQueen: A Real-Time Differentiable Physical Simulator for Soft Robotics

Physical simulators have been widely used in robot planning and control....

Neural Material: Learning Elastic Constitutive Material and Damping Models from Sparse Data

The accuracy and fidelity of deformation simulations are highly dependen...

Topology optimization of locomoting soft bodies using material point method

Topology optimization methods have widely been used in various industrie...

Virtual Elastic Objects

We present Virtual Elastic Objects (VEOs): virtual objects that not only...

4D topology optimization: Integrated optimization of the structure and movement of self-actuating soft bodies

Topology optimization is a powerful tool for designing structures in man...

Scalable Real-Time Vehicle Deformation for Interactive Environments

This paper proposes a real-time physically-based method for simulating v...

Please sign up or login with your details

Forgot password? Click here to reset