Basic Study on Grasping of Soft Object by Finite Element Method Considering Gravity | Zendy

Tetsuya Yokoyama | Zendy; Hideki Tanahashi | Zendy; Haruhisa Kawasaki | Zendy

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Basic Study on Grasping of Soft Object by Finite Element Method Considering Gravity

Author(s) -

Tetsuya Yokoyama,

Hideki Tanahashi,

Haruhisa Kawasaki

Publication year - 2006

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2006.p0426

Subject(s) - finite element method , object (grammar) , stiffness , element (criminal law) , computer science , space (punctuation) , mathematics , mathematical analysis , engineering , structural engineering , artificial intelligence , law , political science , operating system

We proposed a method that enables to deform a softobject using a linear Finite Element Method (FEM)in real-time. In the proposed technique, since the cal-culation amount is reduced to On (n: number ofnodes), grasping is enabled in virtual space. In this pa-per, we studied grasping of a soft object taking gravityinto consideration. Some simulations using a stiffnessequation containing gravity demonstrated the validityof our proposal.Keywords: virtual reality, haptic display, soft object,FEM, grasping

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