Simulation of Flexible Objects in Robotics

Publikation: Konferencebidrag uden forlag/tidsskriftPaperForskningpeer review

Resumé

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.
OriginalsprogEngelsk
Publikationsdato2012
Antal sider12
StatusUdgivet - 2012

Fingeraftryk

robotics
simulation
flexible bodies
Newton second law
format

Citer dette

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title = "Simulation of Flexible Objects in Robotics",
abstract = "In this paper, we present what appears to be the first simulation modelfor 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 elasticitytensors based on which we outline the format of the Navier-Cauchy equations of motionin the general anisotropic case. We then specifically study the equations for homogeneous isotropic bodies. We formulate a numerical scheme based on finite differencesfor solving the equations. Finally, we present preliminary experimental work and outlinefuture directions.",
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Simulation of Flexible Objects in Robotics. / Fugl, Andreas Rune; Petersen, Henrik Gordon; Willatzen, Morten.

2012.

Publikation: Konferencebidrag uden forlag/tidsskriftPaperForskningpeer review

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