In the past, evolved virtual creatures (EVCs) have been developed with rigid, articulated bodies, and with soft bodies, but never before with a combination of the two. In nature, however, creatures combining a rigid skeleton and non-rigid muscles are some of the most complex and successful examples of life on earth. Now, for the first time, creatures with fully evolved rigid-body skeletons and ...

In this paper, we propose a new characteristics method for the discretization of the two dimensional fluid-rigid body problem in the case where the densities of the fluid and the solid are different. The method is based on a global weak formulation involving only terms defined on the whole fluid-rigid domain. To take into account the material derivative, we construct a special characteristic fu...

This paper investigates methods for computing a smooth motion that interpolates a given set of positions and orientations. The position and orientation of a rigid body can be described with an element of the group of spatial rigid body displacements, SE(3). To nd a smooth motion that interpolates a given set of positions and orientations is therefore the same as nding an interpolating curve bet...

We present an algorithm for performing rigid-body Brownian dynamics that can take into account the hydrodynamic properties (translational and rotational friction tensors and the coupling between them) of each rigid body. In the zero temperature limit, the error term scales as Delta;{4} for time step Delta , while at nonzero temperatures the error scaling is Delta;{5/2} . We test the algorithm b...

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Previous work in rigid body dynamic simulation has relied on rigid body impact models to model collisions. The well-known models due to Newton, Poisson, and Brach, are each based on a deenition of a coeecient of restitution for rigid body impact. The objective of this paper is to develop a new model that overcomes the deeciencies of these models in frictional impacts and to present a formulatio...

It is shown that for the generalized rigid body certain Cartan subalgebras (called of coordinate type) of so(n) are equilibrium points for the rigid body dynamics. In the case of so(4) there are three coordinate type Cartan subalgebras which form the set of all the regular equilibria. These coordinate type Cartan subalgebras are the analogues of the three axes of equilibria for the classical ri...

We present two methods for generating trajectories and motion interpolants that minimize energy functionals on SE(3), the group of rigid body displacements. We treat SE(3) as a Lie Group and endow it with a left-invariant Riemannian metric derived from energy considerations. The first method is based on a relaxation formulation where the Euler-Lagrange equations for the minimization problem are...