While most traditional robots are constructed from rigid materials, there has been growing interest in developing soft robots whose bodies deform in response to external forces, enabling greater adaptability and safety. Mathematical modeling of these deformations, however, can be challenging. This course covers the rich field of nonlinear material mechanics through the lens of robotic applications. Topics covered include: the theory of nonlinear solid mechanics; finite-element simulations; modeling of elastic, hyperelastic, viscoelastic, hysteretic, and stimulus responsive materials (e.g., dielectric elastomers, shape-memory materials, liquid-crystal elastomers, and piezoelectric materials); compliant mechanisms and micro-electromechanical systems (MEMS); and mechanical metamaterials. Students will synthesize their knowledge through a course project in which they will develop and validate a model of a deformable robot using either numerical or analytical techniques.
Recommended Background: Mature programming skills and undergraduate-level knowledge of differential equations and linear algebra, undergraduate-level knowledge of stress/strain in materials.