Soft Material Modeling for Robotic Manipulation
2012 ◽
Vol 162
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pp. 184-193
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Keyword(s):
This article presents a new approach of soft material modeling for robotic manipulation which combines physical modeling and tracking of a deformable object. We discuss the construction of geometrical models using MRI system and how to overcome the problem of variability. The physical model focuses on meat/muscles deformation. We introduce the principal criteria for choosing most appropriate models and discuss two modeling methods which suit our problem: mass spring model and tensor mass model. The introduction of anisotropy in these models allows results to be more realistic but evolves an increasing of computing time.
2021 ◽
Vol 16
◽
pp. 155892502110125
2014 ◽
Vol 61
(5)
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pp. 739-746
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Keyword(s):
2016 ◽
Vol 87
(1-4)
◽
pp. 897-907
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2014 ◽
Vol 9
(4)
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Keyword(s):
2001 ◽
Vol 46
(2)
◽
pp. 195-205
2013 ◽
Vol 3
(3)
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pp. 148-154