Physics of Soft Bodies

Handouts

• Physics of Soft Bodies  (reduced copy)

• Motion and Deformation
• Finite Element Approximation

Sample Programs: One-dimensional Soft Body Model

• dynamic deformation of a 1D soft body model
• dynamic equation under constraint
• dynamic equation of free motion
• pushing force
• reaction force from floor
• searching a specified value in ascending ordered column vector

Sample Programs: Two-dimensional Soft Body Model

• jumping 2D soft robot model (4×4)
• jumping 2D soft robot model (10×10)
• equation of motion (when pushing the square top)
• equation of motion (after releasing the pushing)


• deforming 2D soft robot model (4×4)
• deforming 2D soft robot model (10×10)
• equation of motion (when pushing the square top)
• equation of motion (after releasing the pushing)


• nodal points and triangles of a rectangular body
• calculating inertia matrix
• calculating partial inertia matrix
• calculating Lamé's constants
• calculating connection matrices
• calculating partial connection matrices


• displacement of pushing points
• velocity of pushing points


• reaction force from floor
• reaction force from a floor edge


• drawing object shape
• searching a specified value in ascending ordered column vector

Elastic and Inelastic Models

Linear Body Model