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. © 2012 Springer-Verlag Berlin Heidelberg.
CITATION STYLE
Fugl, A. R., Petersen, H. G., & Willatzen, M. (2012). Simulation of flexible objects in robotics. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 7628 LNAI, pp. 89–100). https://doi.org/10.1007/978-3-642-34327-8_11
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