Cosserat Rod Modeling

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8 papers1 paper in the last four weeks, against 1 the four weeks before. 0.0% of all new papers.

CROPS: Cosserat-Rod-Based Co-Design of Soft Slender Programmable Material Systems for Biomedical Applications
Oct 16, 2026Aaditya Chandrasekhar, Dex Doksoo Lee, Hyunwoo Kwon +2Cosserat Rod Modeling Soft Robotics
Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA
Cosserat Modeling of Trimmed Helicoid Soft Arms with a Separated-Section Constitutive Law
Sep 21, 2026Zhihang Qin, Linxin Hou, Zeyu Zhong +10Structural Mechanics Continuum Robot Control
Department of Mechanical Engineering, College of Design and Engineering, National University of Singapore, Singapore · Advanced Robotics Centre, National University of Singapore, Singapore · Department of Electrical and Computer Engineering, National University of Singapore, Singapore +1
Anatomy-Informed Neural Networks: Encoding Anatomic Priors in Loss and Architecture, with an SE(3) Formulation of Guidewire-Induced Aortoiliac Deformation
Aug 21, 2026David P. StonkoCosserat Rod Modeling Physics-Informed ML
Division of Vascular Surgery and Endovascular Therapy, Department of Surgery, The Johns Hopkins Hospital, Baltimore, MD, USA.
Moving-Horizon Estimation and Nonlinear Model Predictive Control of Cable-Driven Soft Manipulators
Jul 27, 2026Lingxiao Xun, Haihong Li, Gang ZhengNonlinear MPC Moving Horizon Estimation
Stochastic Entanglement of Deterministic Origami Tentacles For Universal Robotic Gripping
Apr 29, 2026Alec Boron, Bokun Zheng, Ziyang Zhou +2Robotic Grasping Robotics
Department of Mechanical Engineering, Virginia Tech, VA, USA
Closed Form Relations and Higher-Order Approximations of First and Second Derivatives of the Tangent Operator on SE(3)
Apr 24, 2026Andreas MuellerRepresentation Geometry Lie Group Methods
Institute of Robotics, Johannes Kepler University Linz, Austria
Coordinated Manipulation of Hybrid Deformable-Rigid Objects in Constrained Environments
Mar 13, 2026Anees Peringal, Anup Teejo Mathew, Panagiotis liatsis +1Cosserat Rod Modeling Deformable Object Manipulation
Department of Mechanical and Nuclear Engineering, Khalifa University, Abu Dhabi, UAE, and also with the Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University, Abu Dhabi, UAE · Department of Computer Science, Khalifa University, Abu Dhabi, UAE
CT-Enabled Patient-Specific Simulation and Contact-Aware Robotic Planning for Cochlear Implantation
Mar 5, 2026Lingxiao Xun, Gang Zheng, Alexandre Kruszewski +1Contact-Aware Motion Planning Cosserat Rod Modeling

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CROPS: Cosserat-Rod-Based Co-Design of Soft Slender Programmable Material Systems for Biomedical Applications

Aaditya Chandrasekhar, Dex Doksoo Lee, Hyunwoo Kwon, Shicheng Li+1

Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA

Cosserat Rod Modeling Soft Robotics

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Slender structures made of stimuli-responsive materials represent an emerging class of programmable material systems, with applications in soft robotics, minimally invasive surgery, wearable electronics, and deployable structures. In biomedical applications, the on-demand design of slender structures, encompassing both their material layout and actuation, is essential to harnessing their large deformation and multiphysics actuation to meet patient-specific design requirements. However, owing to geometric and material nonlinearities, their structure-actuation-response relationship is highly nonintuitive and computationally demanding. This often makes trial-and-error and conventional design approaches challenging for addressing patient-specific needs. To this end, we present a Cosserat-rod-based design optimization framework for the autonomous design of programmable slender structures. Leveraging the Cosserat rod representation, the end-to-end differentiable framework is demonstrated on two case studies: (i) design of swellable stents that morph to the shape of carotid vessels; (ii) co-design of the remnant magnetization and the applied field of magnetically-active catheters to reduce the force exerted on the patient-specific vessel wall during insertion. Both self-contact and external contact with surrounding structures are accounted for. We consider two actuation mechanism, namely the swelling of gel-elastomer composites and the magnetic actuation of hard-magnetic composites. The proposed framework presents an autonomous design platform of soft slender material systems that support large deformations and multiphysics actuation toward personalized biomedical design.