{"id":"https://openalex.org/W7114925018","doi":"https://doi.org/10.48550/arxiv.2512.09911","title":"Py-DiSMech: A Scalable and Efficient Framework for Discrete Differential Geometry-Based Modeling and Control of Soft Robots","display_name":"Py-DiSMech: A Scalable and Efficient Framework for Discrete Differential Geometry-Based Modeling and Control of Soft Robots","publication_year":2025,"publication_date":"2025-12-10","ids":{"openalex":"https://openalex.org/W7114925018","doi":"https://doi.org/10.48550/arxiv.2512.09911"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2512.09911","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2512.09911","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2512.09911","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Lahoti, Radha","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lahoti, Radha","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Chaiyakul, Ryan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chaiyakul, Ryan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Jawed, M. Khalid","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jawed, M. Khalid","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.923799991607666,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.923799991607666,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.015699999406933784,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.009200000204145908,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5985999703407288},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5227000117301941},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.48750001192092896},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.414900004863739},{"id":"https://openalex.org/keywords/soft-computing","display_name":"Soft computing","score":0.40139999985694885},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.37630000710487366},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.36899998784065247},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.35659998655319214},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.3546999990940094}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6230000257492065},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5985999703407288},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5227000117301941},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.48750001192092896},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4650999903678894},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.414900004863739},{"id":"https://openalex.org/C140073362","wikidata":"https://www.wikidata.org/wiki/Q738759","display_name":"Soft computing","level":3,"score":0.40139999985694885},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.37630000710487366},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.36899998784065247},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.35659998655319214},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.3546999990940094},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.35429999232292175},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.34630000591278076},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.34610000252723694},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3361999988555908},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.2994000017642975},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29499998688697815},{"id":"https://openalex.org/C29123130","wikidata":"https://www.wikidata.org/wiki/Q874709","display_name":"Computational geometry","level":2,"score":0.28029999136924744},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2797999978065491},{"id":"https://openalex.org/C104065381","wikidata":"https://www.wikidata.org/wiki/Q1002535","display_name":"Geometric modeling","level":2,"score":0.2741999924182892},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.2727999985218048},{"id":"https://openalex.org/C37785467","wikidata":"https://www.wikidata.org/wiki/Q385325","display_name":"Modelica","level":2,"score":0.272599995136261},{"id":"https://openalex.org/C32833848","wikidata":"https://www.wikidata.org/wiki/Q4115054","display_name":"Extensibility","level":2,"score":0.2718999981880188},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.27059999108314514},{"id":"https://openalex.org/C116672817","wikidata":"https://www.wikidata.org/wiki/Q1454986","display_name":"Physical system","level":2,"score":0.2662999927997589},{"id":"https://openalex.org/C113364801","wikidata":"https://www.wikidata.org/wiki/Q26674","display_name":"High fidelity","level":2,"score":0.2572000026702881},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.25279998779296875},{"id":"https://openalex.org/C2779145975","wikidata":"https://www.wikidata.org/wiki/Q347690","display_name":"Workbench","level":3,"score":0.2508000135421753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2512.09911","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2512.09911","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2512.09911","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2512.09911","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"High-fidelity":[0],"simulation":[1,31,57],"has":[2],"become":[3],"essential":[4],"to":[5],"the":[6,28,69,90,177],"design":[7,158],"and":[8,17,39,45,61,83,96,102,133,149,152,165,203],"control":[9,44,62,201],"of":[10,63,71,93],"soft":[11,64,207],"robots,":[12],"where":[13],"large":[14],"geometric":[15,78],"deformations":[16],"complex":[18],"contact":[19,127],"interactions":[20],"challenge":[21],"conventional":[22],"modeling":[23,60],"tools.":[24],"Recent":[25],"advances":[26],"in":[27,68,181,206],"field":[29],"demand":[30],"frameworks":[32],"that":[33,129,173],"combine":[34],"physical":[35,186],"accuracy,":[36],"computational":[37,104,182],"scalability,":[38],"seamless":[40],"integration":[41,166],"with":[42,99,167],"modern":[43],"optimization":[46],"pipelines.":[47],"In":[48],"this":[49],"work,":[50],"we":[51],"present":[52],"Py-DiSMech,":[53],"a":[54,110,123,137,142,154,194],"Python-based,":[55],"open-source":[56],"framework":[58,107],"for":[59,146,198],"robotic":[65],"structures":[66,98],"grounded":[67],"principles":[70],"Discrete":[72],"Differential":[73],"Geometry":[74],"(DDG).":[75],"By":[76],"discretizing":[77],"quantities":[79],"such":[80],"as":[81,193],"curvature":[82],"strain":[84],"directly":[85],"on":[86],"meshes,":[87],"Py-DiSMech":[88,174,192],"captures":[89],"nonlinear":[91],"deformation":[92],"rods,":[94],"shells,":[95],"hybrid":[97],"high":[100],"fidelity":[101],"reduced":[103],"cost.":[105],"The":[106],"introduces":[108],"(i)":[109],"fully":[111,125],"vectorized":[112],"NumPy":[113],"implementation":[114],"achieving":[115],"order-of-magnitude":[116],"speed-ups":[117],"over":[118],"existing":[119],"geometry-based":[120],"simulators;":[121],"(ii)":[122],"penalty-energy-based":[124],"implicit":[126],"model":[128],"supports":[130],"rod-rod,":[131],"rod-shell,":[132],"shell-shell":[134],"interactions;":[135],"(iii)":[136],"natural-strain-based":[138],"feedback-control":[139],"module":[140],"featuring":[141],"proportional-integral":[143],"(PI)":[144],"controller":[145],"shape":[147],"regulation":[148],"trajectory":[150],"tracking;":[151],"(iv)":[153],"modular,":[155],"object-oriented":[156],"software":[157],"enabling":[159],"user-defined":[160],"elastic":[161],"energies,":[162],"actuation":[163],"schemes,":[164],"machine-learning":[168],"libraries.":[169],"Benchmark":[170],"comparisons":[171],"demonstrate":[172],"substantially":[175],"outperforms":[176],"state-of-the-art":[178],"simulator":[179],"Elastica":[180],"efficiency":[183],"while":[184],"maintaining":[185],"accuracy.":[187],"Together,":[188],"these":[189],"features":[190],"establish":[191],"scalable,":[195],"extensible":[196],"platform":[197],"simulation-driven":[199],"design,":[200],"validation,":[202],"sim-to-real":[204],"research":[205],"robotics.":[208]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2025-12-12T00:00:00"}