Soft mobility theory yields a configuration-dependent ODE for hyperelastic bodies in Stokes flow, specialized to spring-connected spheres and demonstrated for inverse design of soft swimmers via end-to-end differentiable simulation.
We thus haveF s =J sfs withJ s the Jacobian of the surface deformation Js =∥F −⊤ ·N∥det(F).(A2)
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Soft Mobility Theory
Soft mobility theory yields a configuration-dependent ODE for hyperelastic bodies in Stokes flow, specialized to spring-connected spheres and demonstrated for inverse design of soft swimmers via end-to-end differentiable simulation.