Simulation of flexible objects in robotics

Andreas Rune Fugl, Henrik Gordon Petersen, Morten Willatzen

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-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 languageEnglish
Title of host publicationSimulation, Modeling, and Programming for Autonomous Robots : Third International Conference, SIMPAR 2012, Tsukuba, Japan, November 5-8, 2012. Proceedings
PublisherSpringer
Publication date2012
Pages89-100
ISBN (Print)978-3-642-34326-1
ISBN (Electronic)978-3-642-34327-8
DOIs
Publication statusPublished - 2012
Externally publishedYes
Event3rd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2012) - Tsukuba, Japan
Duration: 5 Nov 20128 Nov 2012
http://www.2012.simpar.org/

Conference

Conference3rd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2012)
CountryJapan
CityTsukuba
Period05/11/201208/11/2012
Internet address
SeriesLecture Notes in Computer Science
Volume7628
ISSN0302-9743

Keywords

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

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