Inextensible cloth simulation

Example simulations showing the ability of the simulator to handle non-trivial mesh topologies, contacts, friction and self-collisions.

Some theory behind the model

The main idea of our simulator is to model cloth as an inextensible surface moving through space \(S\subset\mathbb{R}^3\), meaning that we have a family of time-varying surfaces \(\{S_t\}_{t\geq 0}\) isometric to \(S = S_0\). This implies that every curve inside the surface mantains its lenght in time (see the figure bellow).

The curve connecting A and B mantains its lenght when we deform the surface isometrically.

This can be expressed mathematically as imposing that the first fundamental form of \(S\) be constant in time. For more details about the modeling and discretization of inextensibility, see (Coltraro et al., 2022). For details about how to include contacts, (self)collisions and friction into the model, see (Coltraro et al., 2024).

Comparisons with real recordings of textiles

Experimental validation of the cloth model against real motions of textiles as captured by a MoCap system.

Code

Python implementation coming soon!

References

2024

A novel collision model for inextensible textiles and its experimental validation

Franco Coltraro, Jaume Amorós , Maria Alberich-Carramiñana , and 1 more author

Applied Mathematical Modelling, 2024

Bib PDF

@article{CollisionsAMM,
  title = {A novel collision model for inextensible textiles and its experimental validation},
  journal = {Applied Mathematical Modelling},
  volume = {128},
  pages = {287-308},
  year = {2024},
  issn = {0307-904X},
  doi = {https://doi.org/10.1016/j.apm.2024.01.030},
  url = {https://www.sciencedirect.com/science/article/pii/S0307904X24000295},
  author = {Coltraro, Franco and Amorós, Jaume and Alberich-Carramiñana, Maria and Torras, Carme},
  keywords = {Inextensible cloth, Collision modeling, Coloumb friction, Experimental validation, Constrained optimization},
}

2022

An inextensible model for the robotic manipulation of textiles

Franco Coltraro, Jaume Amorós , Maria Alberich-Carramiñana , and 1 more author

Applied Mathematical Modelling, 2022

Bib PDF

@article{InextensibleAMM,
  title = {An inextensible model for the robotic manipulation of textiles},
  journal = {Applied Mathematical Modelling},
  volume = {101},
  pages = {832-858},
  year = {2022},
  issn = {0307-904X},
  doi = {https://doi.org/10.1016/j.apm.2021.09.013},
  author = {Coltraro, Franco and Amor\'os, Jaume and Alberich-Carrami\~{n}ana, Maria and Torras, Carme},
  keywords = {Inextensible cloth, FEM Simulation, Physical modeling, Experimental validation, Robotic manipulation},
}