Abstract
In this paper, we present what appears to be the first simulation model for grasping of flexible bodies based on the three-dimensional elastic constitutive relations and Newton's Second Law for solids known as the Navier-Cauchy equations. We give an overview of the most important equations for strain, stress, and elasticity tensors based on which we outline the format of the Navier-Cauchy equations of motion in the general anisotropic case. We then specifically study the equations for homogeneous isotropic bodies. We formulate a numerical scheme based on finite differences for solving the equations. Finally, we present preliminary experimental work and outline future directions.
Original language | English |
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Title of host publication | Simulation, Modeling, and Programming for Autonomous Robots : Third International Conference, SIMPAR 2012, Tsukuba, Japan, November 5-8, 2012. Proceedings |
Publisher | Springer |
Publication date | 2012 |
Pages | 89-100 |
ISBN (Print) | 978-3-642-34326-1 |
ISBN (Electronic) | 978-3-642-34327-8 |
DOIs | |
Publication status | Published - 2012 |
Externally published | Yes |
Event | 3rd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2012) - Tsukuba, Japan Duration: 5 Nov 2012 → 8 Nov 2012 http://www.2012.simpar.org/ |
Conference
Conference | 3rd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2012) |
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Country/Territory | Japan |
City | Tsukuba |
Period | 05/11/2012 → 08/11/2012 |
Internet address |
Series | Lecture Notes in Computer Science |
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Volume | 7628 |
ISSN | 0302-9743 |
Keywords
- Elasticity
- Equations of motion
- Robotics
- Robots
- Three dimensional
- Three dimensional computer graphics