JRM Vol.18 No.4 pp. 426-432
doi: 10.20965/jrm.2006.p0426


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

Tetsuya Yokoyama*, Hideki Tanahashi*, and Haruhisa Kawasaki**

*Gifu Prefectural Research Institute of Manufacturing Information Technology, 4-179-19 Sue, Kakamigahara, Gifu 509-0108, Japan

**Department of Human and Information Systems, Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan

January 5, 2006
June 30, 2006
August 20, 2006
virtual reality, haptic display, soft object, FEM, grasping
We proposed a method that enables to deform a soft object using a linear Finite Element Method (FEM) in real-time. In the proposed technique, since the calculation amount is reduced to O (n) (n: number of nodes), grasping is enabled in virtual space. In this paper, we studied grasping of a soft object taking gravity into consideration. Some simulations using a stiffness equation containing gravity demonstrated the validity of our proposal.
Cite this article as:
T. Yokoyama, H. Tanahashi, and H. Kawasaki, “Basic Study on Grasping of Soft Object by Finite Element Method Considering Gravity,” J. Robot. Mechatron., Vol.18 No.4, pp. 426-432, 2006.
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