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.
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Fugl, A.R., Petersen, H.G., Willatzen, M. (2012). Simulation of Flexible Objects in Robotics. In: Noda, I., Ando, N., Brugali, D., Kuffner, J.J. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2012. Lecture Notes in Computer Science(), vol 7628. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34327-8_11
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DOI: https://doi.org/10.1007/978-3-642-34327-8_11
Publisher Name: Springer, Berlin, Heidelberg
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