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 |
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| 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 | |
| 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 |
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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 |
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All Science Journal Classification (ASJC) codes
- Human-Computer Interaction
- Artificial Intelligence
Cite this
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
}
TY - GEN
T1 - Stable simulation of flexible cable-like objects by using serial kinematic chains with high number of passive degrees-of-freedom
AU - Cisneros, Rafael
AU - Kikuuwe, Ryo
AU - Nakaoka, Shin'ichiro
AU - Kanehiro, Fumio
PY - 2017/2/22
Y1 - 2017/2/22
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85015882405&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85015882405&partnerID=8YFLogxK
U2 - 10.1109/SIMPAR.2016.7862385
DO - 10.1109/SIMPAR.2016.7862385
M3 - Conference contribution
AN - SCOPUS:85015882405
T3 - 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016
SP - 119
EP - 126
BT - 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016
PB - Institute of Electrical and Electronics Engineers Inc.
ER -