arXiv subjects

Michel C. Milinkovitch

Publications and source records attributed to Michel C. Milinkovitch.

4 recordsLinked to original sources

arXiv2026

Continuous and large-scale: ELEANOR, the soft architected arm inspired by the elephant trunk

The elephant trunk is a dexterous and versatile manipulator whose performance is still unmatched in robotics. In previous works, modularity was prioritized and relatively small-scale continuum robots were built. We take the natural proboscis of the Loxodonta africana species as a model and propose a different design approach which favors structural continuity and natural frequency that plausibly emulate those of the natural trunk, while conferring high adaptability to the environment and humans. Instead of targeting prescribed behaviors, we show that a biomimetic design based on the macroscopic properties of the natural system enables elephant-like movements and grasping. We build by 3D printing an 85 cm long, compliant, tapered, volumetrically tessellated continuum arm, which is combined with tendon-driven actuation mimicking the longitudinal and oblique muscles of the natural model. We demonstrate whole-body grasping of objects having different shapes and dimensions and discuss a comparison to the biological trunk highlighting aspects of both biology and robotics.

cs.RO↗

arXiv2022

Coupling chemotaxis and growth poromechanics for the modelling of feather primordia patterning

We propose a new mathematical model for the interaction of skin cell populations with fibroblast growth factor and bone morphogenetic protein, occurring within deformable porous media. The equations for feather primordia pattering are based on the work by K.J. Painter et al. [J. Theoret. Biol., 437 (2018) 225--238]. We perform a linear stability analysis to identify relevant parameters in the coupling mechanisms, focusing in the regime of infinitesimal strains. We also extend the model to the case of nonlinear poroelasticity and include solid growth by means of Lee decompositions of the deformation gradient. We present a few illustrative computational examples in 2D and 3D, and briefly discuss the design of tailored efficient solvers.

math.NA↗

arXiv2018

Numerical approximation of a mechanochemical interface model for skin appendage

We introduce a model for the mass transfer of molecular activators and inhibitors in two media separated by an interface, and study its interaction with the deformations exhibited by the two-layer skin tissue where they occur. The mathematical model results in a system of nonlinear advection-diffusion-reaction equations including cross-diffusion, and coupled with an interface elasticity problem. We propose a Galerkin method for the discretisation of the set of governing equations, involving also a suitable Newton linearisation, partitioned techniques, non-overlapping Schwarz alternating schemes, and high-order adaptive time stepping algorithms. The experimental accuracy and robustness of the proposed partitioned numerical methods is assessed, and some illustrating tests in 2D and 3D are provided to exemplify the coupling effects between the mechanical properties and the advection-diffusion-reaction interactions involving the two separate layers.

math.NA↗

arXiv2016

Bifurcation Analysis of Reaction Diffusion Systems on Arbitrary Surfaces

In this paper we present computational techniques to investigate the solutions of two-component, nonlinear reaction-diffusion (RD) systems on arbitrary surfaces. We build on standard techniques for linear and nonlinear analysis of RD systems, and extend them to operate on large-scale meshes for arbitrary surfaces. In particular, we use spectral techniques for a linear stability analysis to characterize and directly compose patterns emerging from homogeneities. We develop an implementation using surface finite element methods and a numerical eigenanalysis of the Laplace-Beltrami operator on surface meshes. In addition, we describe a technique to explore solutions of the nonlinear RD equations using numerical continuation. Here, we present a multiresolution approach that allows us to trace solution branches of the nonlinear equations efficiently even for large-scale meshes. Finally, we demonstrate the working of our framework for two RD systems with applications in biological pattern formation: a Brusselator model that has been used to model pattern development on growing plant tips, and a chemotactic model for the formation of skin pigmentation patterns. While these models have been used previously on simple geometries, our framework allows us to study the impact of arbitrary geometries on emerging patterns.

cs.CE↗