ICRA 2011 Paper Abstract


Paper ThA212.1

Ho, Van (Ritsumeikan University), Hirai, Shinichi (Ritsumeikan Univ.)

Three-Dimensional Modeling and Simulation of the Sliding Motion of a Soft Fingertip with Friction, Focusing on Stick-Slip Transition

Scheduled for presentation during the Regular Sessions "Dexterous Manipulation" (ThA212), Thursday, May 12, 2011, 10:05−10:20, Room 5H

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 19, 2019

Keywords Contact Modelling, Grasping, Dexterous Manipulation


We have proposed a dynamic model to investigate the sliding motion of a 3-dimensional soft fingertip on a plane with friction. The fingertip is comprised virtually of a finite number of elastic compressible and bendable cantilevers whose free ends act as infinitesimal contact points. The contact surface is afterward meshed using finite element method based on coordinates of contact points. By introducing Coulomb's law and contact compliance into each contact point, we are able to assess the frictional characteristic during sliding motions of the fingertip. We also successfully described dynamically localized displacements on the contact surface during stick-slip transition, which occurs substantially on hemispherical soft fingertip. Moreover, each simulation trial was implemented in a very small amount of time comparing to commercial softwares, promising use of this model in realtime application In addition, we conducted experiments to valid proposed simulation, including force/moment and vision setups.



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