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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages119-126
Number of pages8
ISBN (Electronic)9781509046164
DOIs
Publication statusPublished - Feb 22 2017
Event2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016 - San Francisco, United States
Duration: Dec 13 2016Dec 16 2016

Publication series

Name2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016

Other

Other2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016
CountryUnited States
CitySan Francisco
Period12/13/1612/16/16

Fingerprint

Degrees of freedom (mechanics)
Kinematics
Cables
Friction
Hose
Robotics

All Science Journal Classification (ASJC) codes

  • Human-Computer Interaction
  • Artificial Intelligence

Cite this

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 proceedingConference 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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