Modeling deformable shell-like objects grasped by a robot hand

Authors:
Jiang Tian;Yan-Bin Jia
Affiliations:
Department of Computer Science, Iowa State University, Ames, IA;Department of Computer Science, Iowa State University, Ames, IA
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

Citing 3
Cited 1

ArtDefo: accurate real time deformable objects

Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Path planning for deformable linear objects

IEEE Transactions on Robotics
Contact and Deformation Modeling for Interactive Environments

IEEE Transactions on Robotics

Modeling deformations of general parametric shells grasped by a robot hand

IEEE Transactions on Robotics

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper models (large) deformations of shell-like objects under the grasping of a robot hand. Classical nonlinear theory of thin shells [21, pp. 186-194] is generalized to shells with arbitrary parametric middle surfaces, using a method introduced in our earlier work [13]. An experimental study demonstrates higher modeling accuracy using the nonlinear elasticity theory than its linear counterpart. Given that many deformable objects undergo sizable shape changes when they are grasped, our result supports the application of nonlinear elasticity theory in the future design of grasp strategies for this type of objects.