Stable simulation of flexible cable-like objects by using serial kinematic chains with high number of passive degrees-of-freedom

Rafael Cisneros; Ryo Kikuuwe; Shin'ichiro Nakaoka; Fumio Kanehiro

doi:10.1109/SIMPAR.2016.7862385

Stable simulation of flexible cable-like objects by using serial kinematic chains with high number of passive degrees-of-freedom

Rafael Cisneros, Ryo Kikuuwe, Shin'ichiro Nakaoka, Fumio Kanehiro

Control Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

This paper presents a technique to achieve a stable simulation of flexible cable-like objects approximated as serial kinematic chains with a high number of passive degrees of freedom. This is achieved by implementing a dry-friction model based on implicit Euler integration of Coulomblike discontinuous friction, which does not exhibit chattering nor unbounded drift. The applicability of this technique is demonstrated through its implementation to simulate a hose for the Japan Virtual Robotics Challenge.

Original language	English
Title of host publication	2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	119-126
Number of pages	8
ISBN (Electronic)	9781509046164
DOIs	https://doi.org/10.1109/SIMPAR.2016.7862385
Publication status	Published - Feb 22 2017
Event	2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016 - San Francisco, United States Duration: Dec 13 2016 → Dec 16 2016

Publication series

Name	2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016

Other

Other	2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016
Country	United States
City	San Francisco
Period	12/13/16 → 12/16/16

All Science Journal Classification (ASJC) codes

Human-Computer Interaction
Artificial Intelligence

Access to Document

10.1109/SIMPAR.2016.7862385

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Cisneros, R., Kikuuwe, R., Nakaoka, S., & Kanehiro, F. (2017). Stable simulation of flexible cable-like objects by using serial kinematic chains with high number of passive degrees-of-freedom. In 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016 (pp. 119-126). [7862385] (2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SIMPAR.2016.7862385

Stable simulation of flexible cable-like objects by using serial kinematic chains with high number of passive degrees-of-freedom. / Cisneros, Rafael; Kikuuwe, Ryo; Nakaoka, Shin'ichiro; Kanehiro, Fumio.

2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016. Institute of Electrical and Electronics Engineers Inc., 2017. p. 119-126 7862385 (2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Cisneros, R, Kikuuwe, R, Nakaoka, S & Kanehiro, F 2017, Stable simulation of flexible cable-like objects by using serial kinematic chains with high number of passive degrees-of-freedom. in 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016., 7862385, 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016, Institute of Electrical and Electronics Engineers Inc., pp. 119-126, 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016, San Francisco, United States, 12/13/16. https://doi.org/10.1109/SIMPAR.2016.7862385

Cisneros R, Kikuuwe R, Nakaoka S, Kanehiro F. Stable simulation of flexible cable-like objects by using serial kinematic chains with high number of passive degrees-of-freedom. In 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016. Institute of Electrical and Electronics Engineers Inc. 2017. p. 119-126. 7862385. (2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016). https://doi.org/10.1109/SIMPAR.2016.7862385

Cisneros, Rafael ; Kikuuwe, Ryo ; Nakaoka, Shin'ichiro ; Kanehiro, Fumio. / Stable simulation of flexible cable-like objects by using serial kinematic chains with high number of passive degrees-of-freedom. 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 119-126 (2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016).

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