A Multi-Scale Model for Coupling Strands with Shear-Dependent Liquid
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May 30, 2024 - C++
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discrete-elastic-rods
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Physics-based simulation and stiffness design for medical continuum robots, with 12 reproducible experiments on nonlinear rod mechanics, insertion, contact, friction, and uncertainty.
python softrobotics contact-mechanics continuum-robotics medical-robotics discrete-elastic-rods pyelastica stiffness-analysis
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Sep 16, 2026 - Python
MuJoCo simulation workcell for dual-arm deformable-linear-object routing: two Franka Panda arms on rails, a 120-segment DER cable, deterministic dynamic obstacles, and a force-instrumented elastic clip. Controller-agnostic.
research robotics simulation motion-planning manipulation mujoco cbf robot-simulation dual-arm franka-panda discrete-elastic-rods dlo control-barrier-functions deformable-linear-objects contact-rich-manipulation cable-routing
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Jul 29, 2026 - Python
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