Simulation of flexible objects in robotics

Andreas Rune Fugl; Henrik Gordon Petersen; Morten Willatzen

doi:10.1007/978-3-642-34327-8_11

Simulation of flexible objects in robotics

Andreas Rune Fugl, Henrik Gordon Petersen, Morten Willatzen

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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
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	https://doi.org/10.1007/978-3-642-34327-8_11
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)
Country	Japan
City	Tsukuba
Period	05/11/2012 → 08/11/2012
Internet address	http://www.2012.simpar.org/

Series	Lecture Notes in Computer Science
Volume	7628
ISSN	0302-9743

Keywords

Elasticity
Equations of motion
Robotics
Robots
Three dimensional
Three dimensional computer graphics

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10.1007/978-3-642-34327-8_11

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Cite this

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title = "Simulation of flexible objects in robotics",

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. ",

keywords = "Elasticity, Equations of motion, Robotics, Robots, Three dimensional, Three dimensional computer graphics",

author = "Fugl, {Andreas Rune} and Petersen, {Henrik Gordon} and Morten Willatzen",

year = "2012",

doi = "10.1007/978-3-642-34327-8_11",

language = "English",

isbn = "978-3-642-34326-1",

series = "Lecture Notes in Computer Science",

publisher = "Springer",

pages = "89--100",

booktitle = "Simulation, Modeling, and Programming for Autonomous Robots",

note = "3rd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2012) ; Conference date: 05-11-2012 Through 08-11-2012",

url = "http://www.2012.simpar.org/",

}

Fugl, AR, Petersen, HG & Willatzen, M 2012, Simulation of flexible objects in robotics. in Simulation, Modeling, and Programming for Autonomous Robots: Third International Conference, SIMPAR 2012, Tsukuba, Japan, November 5-8, 2012. Proceedings. Springer, Lecture Notes in Computer Science, vol. 7628, pp. 89-100, 3rd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2012), Tsukuba, Japan, 05/11/2012. https://doi.org/10.1007/978-3-642-34327-8_11

Simulation of flexible objects in robotics. / Fugl, Andreas Rune; Petersen, Henrik Gordon; Willatzen, Morten.

Simulation, Modeling, and Programming for Autonomous Robots: Third International Conference, SIMPAR 2012, Tsukuba, Japan, November 5-8, 2012. Proceedings. Springer, 2012. p. 89-100 (Lecture Notes in Computer Science, Vol. 7628).

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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KW - Equations of motion

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KW - Three dimensional

KW - Three dimensional computer graphics

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