Abstract
We present a novel method of simulating incompressible materials undergoing large deformation without locking artifacts. We apply it for simulating silicone soft robots with a Poisson ratio close to 0.5. The new approach is based on the mixed finite element method (FEM) using a pressure-displacement formulation; the deviatoric deformation is still handled in a traditional fashion. We support large deformations without volume increase using the corotational formulation of linear elasticity. Stability is ensured by an implicit integration scheme which always reduces to a sparse linear system. For even more deformation accuracy we support higher order simulation through the use of Bernstein-Bézier polynomials.
| Original language | English |
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| Title of host publication | Proceedings - MIG 2019 : ACM Conference on Motion, Interaction, and Games |
| Editors | Stephen N. Spencer |
| Number of pages | 6 |
| Publisher | Association for Computing Machinery |
| Publication date | 28 Oct 2019 |
| Article number | a28 |
| ISBN (Electronic) | 9781450369947 |
| DOIs | |
| Publication status | Published - 28 Oct 2019 |
| Event | 2019 ACM Conference on Motion, Interaction, and Games, MIG 2019 - Newcastle upon Tyne, United Kingdom Duration: 28 Oct 2019 → 30 Oct 2019 |
Conference
| Conference | 2019 ACM Conference on Motion, Interaction, and Games, MIG 2019 |
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| Country/Territory | United Kingdom |
| City | Newcastle upon Tyne |
| Period | 28/10/2019 → 30/10/2019 |
| Sponsor | ACM SIGGRAPHGeneral |
Keywords
- Corotational elasticity
- Incompressibility
- Mixed finite element