Work

Solving Dynamic Cosserat Rods with Frictional Contact Using the Shooting Method and Implicit Surfaces

Year: 2024

Type: conference-paper

Abstract: We propose a method for solving the strong form of the dynamic Cosserat rod clamped-free boundary value problem (BVP) under frictional contact. The shooting method is employed for BVP solving, and contact response is computed using the penalty method. The proposed method is tailored for accurate and rapid simulation of catheterization-like medical procedures. Our contact scenarios involve complex shapes and real patient geometry, modeled with implicit surfaces as blobby models. The results show that using blobby models for contact detection is orders of magnitude faster than using triangle meshes. This approach provides smoother contact forces, accelerating the convergence of the shooting method. We have made our code available as open source at https://gitlab.inria.fr/rjilani/IROS2024/.

Source: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

DOI: 10.1109/iros58592.2024.10801774

Authors: Radhouane Jilani, Pierre-Frédéric Villard, Erwan Kerrien

Institutions: Centre National de la Recherche Scientifique, Institut national de recherche en sciences et technologies du numérique, Laboratoire Lorrain de Recherche en Informatique et ses Applications, Université de Lorraine

Language: English

Topic: Contact Mechanics and Variational Inequalities

Subfield: Computational Theory and Mathematics

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

Funder: Agence Nationale de la Recherche

Award: Predictive Simulation for the Planning of Interventional Neuroradiology procedures