SGER: Modeling of Deformation under Grasping

SGER：抓取变形建模

• 批准号: 0742334
• 负责人: Yan-Bin Jia
• 金额: --
• 依托单位: Iowa State University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2007
• 资助国家: 美国
• 起止时间: 2007-09-01 至 2009-02-28
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0742334&HistoricalAwards=false
• 关键词: SGER; Modeling; Deformation; under; Grasping

The PI proposes to investigate how to model the deformations of grasped objects. A main thrust will be on the search for a geometric formulation of surface strain energy that satisfies the strain-displacement relationships under the linear elasticity model. A graphical interface will be developed not only for the simulation purpose, but also to be experimentally tested with a three-fingered BarrettHand. The developed model based on linear elasticity will be extended to deal with large deformations, possibly combined with tools from the Nonlinear Finite Element Method (NFEM). The objective is to push the boundary of linear elasticity based modeling to achieve real-time computation by exploiting the fact that a grasp is decided by deformations in the contact areas with the fingers not by that of the entire shape. With efforts balanced between theoretical inquiry and experimental demonstration, the PI hopes to gain in-depth understanding of the geometry and mechanics of grasping in the presence of deformation. The proposed work will pave the way for designing strategies for grasping deformable objects, and have potential impact on haptics, computer graphics, and medical robotics.

PI建议研究如何对抓取对象的变形进行建模。主要的推力将是寻找满足线弹性模型下的应变-位移关系的表面应变能的几何公式。将开发一个图形界面，不仅用于模拟目的，而且还将用于三指BarrettHand的实验测试。所开发的基于线弹性的模型将扩展到处理大变形，可能与非线性有限元方法(Nfem)的工具相结合。其目的是通过利用抓取是由手指与手指接触区域的变形而不是整个形状的变形来决定的，从而推动基于线弹性的建模的边界以实现实时计算。通过在理论探讨和实验演示之间取得平衡，PI希望能够深入了解在存在变形的情况下抓取的几何和力学。这项拟议的工作将为设计抓取可变形物体的策略铺平道路，并对触觉、计算机图形学和医疗机器人产生潜在影响。