Title :
Manipulation of deformable linear objects: Force-based simulation approach for haptic feedback
Author :
Kahl, Björn ; Henrich, Dominik
Author_Institution :
Lehrstuhl fur Angewandte Informatik III, Univ. Bayreuth
Abstract :
In this paper we present a new approach to simulate deformable linear objects (DLOs) for use in a haptic feedback system. Our goal is to optimize efficient computation and preciseness. The presented approach is inspired from the well known method of "finite elements", but avoids a exact physical model
Keywords :
finite element analysis; force feedback; haptic interfaces; manipulators; DLO manipulation; deformable linear objects; finite element method; force-based simulation; haptic feedback system; Assembly; Computational modeling; Deformable models; Differential equations; Force feedback; Haptic interfaces; Robot kinematics; Shape; Springs; Wires;
Conference_Titel :
Advanced Robotics, 2005. ICAR '05. Proceedings., 12th International Conference on
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-9178-0
DOI :
10.1109/ICAR.2005.1507400
