Towards tasking humanoids for lift-and-carry non-rigid material

Author(s):  
Jean Chagas Vaz ◽  
Hyunhee Lee ◽  
Youngbum Jun ◽  
Paul Oh
Keyword(s):  
Author(s):  
W. R. Stephenson

Some normal modes of vibration are deduced for a cylindrical volume of high bulk modulus, low shear modulus material, embedded in an infinite half space of rigid material. The manner in which they may be excited by travelling waves in the rigid material is examined. The relevance of such processes is discussed with regard to the enhancement of structural damage on soft soil during an earthquake.


Author(s):  
Hamid Charef ◽  
Ali Sili

We study the homogenization of the linearized system of elasticity standing for the equilibrium equation of a highly periodic heterogeneous elastic medium submitted to small deformations and made of two different materials: a very rigid material located in a set Fε (ε being the size of the period of the medium) of vertical fibres surrounded by a soft elastic material localized in the set Mε. The ratio between the coefficients of the elasticity tensor of the two materials is assumed to be 1/ε4. We deal with the general case without any special assumption, such as isotropy, on the material.


Author(s):  
Nahian Rahman ◽  
Carlo Canali ◽  
Darwin G. Caldwell ◽  
Ferdinando Cannella

Dexterous gripper requirements, such as in-hand manipulation is a capability on which human hands are unique at; numerous number of sensors, degree of freedom, adaptability to deal with plurality of object of our hand motivate the researchers to replicate these abilities in robotic grippers. Developments of gripper or grasping devices have been addressed from many perspectives: the use of materials in the gripper synthesis, such as rigid or flexible, the approach of control, use of under-actuated mechanism and so on. Mathematical formulation of grasp modeling, manipulation are also addressed; however, due to the presence non-holonomic motion, it is difficult to replicate the behaviors (achieved in model) in a physical gripper. Also, achieving skills similar to human hand urge to use soft or non rigid material in the gripper design, which is contrary to speed and precision requirements in an industrial gripper. In this dilemma, this paper addresses the problem by developing modular finger approach. The modular finger is built by two well known mechanisms, and exploiting such modular finger in different numbers in a gripper arrangement can solve many rising issues of manipulation.


1993 ◽  
Vol 9 (4) ◽  
pp. 643-668 ◽  
Author(s):  
Donat Fäh ◽  
Claudio Iodice ◽  
Peter Suhadolc ◽  
Guilano F. Panza

A hybrid technique, based on mode summation and finite differences, is used to simulate the ground motion induced in the city of Rome by the January 13, 1915, Fucino (Italy) earthquake (ML=6.8). The technique allows us to take into consideration source, path, and local soil effects. The results of the numerical simulations are used for a comparison between the observed distribution of damage in Rome, and the computed peak ground acceleration, the maximum response of simple oscillators, and the so-called “total energy of ground motion”. The total energy of ground motion is in good agreement with the observed distribution of damage. From the computation of spectral ratios, it has been recognized that the presence of a near-surface layer of rigid material is not sufficient to classify a location as a “hard-rock site” when the rigid material has a sedimentary complex below it. This is because the underlying sedimentary complex causes amplifications due to resonances. Within sedimentary basins, incident energy in certain frequency bands can also be shifted from the vertical, into the radial component of motion. This phenomenon is very localized, both in frequency and space, and closely neighboring sites can be characterized by large differences in the seismic response.


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