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
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.
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