Dynamic simulation and virtual control of a deformable fingertip
- 23 December 2002
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1669-1674
- https://doi.org/10.1109/robot.1996.506952
Abstract
An efficient computational model for the dynamics of a deformablerobot fingertip is presented. The dynamic model isbased on a discretization of the fingertip's volume into a latticeof masses locally interconnected by damped springs. Thelattice's parameters are adjusted in correspondence with bulkproperties of the fingertip's deformable material (rubber). Inthe task studied, the fingertip moves toward a rigid flat surface,contacts it, and presses against it. This motion is commandedby an ...Keywords
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