Simulation of Soft Fingertip Deformation under Contact and Rolling Constraints using FEM and CSM

摘要：

We have developed a new model to simulate contact and rolling motion between two soft fingers and an object by using Finite Element and Constraint Stabilization Methods. This model is more efficient than the penalty method in connecting boundaries of objects through discrete models such as finite element models and particle models. We show the validity of this method through the simulation of grasping and rolling using two soft fingers described by the 2D finite element model.

作者: Kazuki Namima Zhongkui Wang Shinichi Hirai

作者单位: Department of Robotics,Ritsumeikan University,1-1-1 Noji-Higashi,Kusatsu,Shiga,Japan

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1585-1590

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）