Modeling deformations of general parametric shells grasped by a robot hand

IEEE Transactions on Robotics

Volumn 26, Issue 5, 2010, Pages 837-852

  Tian, Jiang ^a   Jia, Yan Bin ^a  

^a Iowa State University   (United States)

Author keywords

Deformable modeling; elasticity; grasping; shell

Indexed keywords

ANALYTICAL SOLUTIONS; BENCH-MARK PROBLEMS; BENDING STRAIN; COMMERCIAL SOFTWARE; COMPUTATIONAL PROCEDURES; CONTACT AREAS; CONVERGENCE RATES; COVARIANT; DEFORMABLE MODELING; DEFORMABLE OBJECT; DESIGN AND ANALYSIS; EXPERIMENTAL VALIDATIONS; FINITE ELEMENT ANALYSIS; GEOMETRIC INVARIANT; GRASPED OBJECT; GRASPING; MANIPULATION STRATEGY; MELBOURNE; MODELING ACCURACY; NETHERLANDS; NEW YORK; NON-PARAMETRIC; NONLINEAR ELASTICITY THEORY; NONLINEAR SHELLS; ORDER OF MAGNITUDE; PARAMETRIZATIONS; PLATES AND SHELLS; PRINCIPAL CURVATURE; ROBOT HAND; SHAPE CHANGE; SHELL; SHELL THEORY; SUBDIVISION SURFACES; THIN SHELLS; TWO-LINE;

CURVE FITTING; DEFORMATION; ELASTICITY; END EFFECTORS; FINITE ELEMENT METHOD; PUMPS; ROBOTIC ARMS; STRAIN; SURFACES; THREE DIMENSIONAL; THREE DIMENSIONAL COMPUTER GRAPHICS;

SHELLS (STRUCTURES);

EID: 77957710197     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2010.2050350     Document Type: Article

References (61)

1. J. H. Argyris and D. W. Scharpf, "The SHEBA family of shell elements for the matrix displacement method. Part I. Natural definition of geometry and strains," Aeronaut. J. Roy. Aeronaut. Soc., vol. 72, pp. 873-878, 1968.
2. D. Baraff and A. Witkin, "Large steps in cloth simulation," in Proc. ACM SIGGRAPH, 1998, pp. 43-54.
3. R. Bartels, J. Beatty, and B. Barsky, An Introduction to Splines for Use in Computer Graphics and Geometric Modeling. Los Altos, CA: Morgan Kaufmann, 1987.
4. K. J. Bathe, Finite Element Procedures. Englewood Cliffs, NJ: Prentice-Hall, 1996.
5. T. Belytschko and C. Tsay, "A stabilization procedure for the quadrilateral plate element with one-point quadrature," Int. J. Numer. Methods Eng., vol. 19, pp. 405-419, 1983.
6. A. Bicchi and V. Kumar, "Robotic grasping and contact: A review," in Proc. IEEE Int. Conf. Robot. Autom., 2000, pp. 348-353.
7. M. Bro-Nielsen and S. Cotin, "Real-time volumetric deformable models for surgery simulation using finite elements and condensatoin," in Proc. Eurograph, 1996, pp. 57-66.
8. J. Chadwick, D. Haumann, and R. Parent, "Layered construction for de-formable animated characters," in ACM SIGGRAPH, 1989, pp. 243-252.
9. F. Cirak, M. Ortiz, and P. Schröder, "Subdivision surfaces:Anew paradigm for thin-shell finite-element analysis," Int. J. Numer. Methods Eng., vol. 47, pp. 2039-2072, 2000.
10. J. Collier, B. Collier, G. O'Toole, and S. Sargand, "Drape prediction by means of finite-element analysis," J. Textile Inst., vol. 82, pp. 96-107, 1991.
11. J. J. Connor and C. A. Brebbia, "A stiffness matrix for a shallow rectangular shell element," J. Eng. Mech. Div., vol. 93, pp. 43-65, 1967.
12. F. Conti, O. Khatib, and C. Baur, "Interactive rendering of deformable objects based on a filling sphere modeling approach," in Proc. IEEE Int. Conf. Robot. Autom., 2003, pp. 3716-3721.
13. A. Dorfmann and R. B. Nelson, "Three-dimensional finite element for analyzing thin plate/shell structures," Int. J. Numer. Methods Eng., vol. 38, pp. 3453-3482, 1995.
14. G. Farin, Curves and Surfaces for Computer Aided Geometric Design, 2nd ed. New York: Academic, 1990.
15. R. T. Fenner, Engineering Elasticity: Application of Numerical and Analytical Techniques. New York: Ellis Horwood, 1986.
16. R. H. Gallagher, Finite Element Analysis. Englewood Cliffs, NJ: Prentice-Hall, 1975.
17. S. F. Gibson and B. Mirtich, "A survey of deformable models in computer graphics," Mitsubishi Electric Res. Labs., Cambridge, MA, Tech. Rep. TR-97-10, 1997.
18. K. Gopalakrishnan and K. Goldberg, "D-space and deform closure grasps of deformable parts," Int. J. Robot. Res., vol. 24, pp. 899-910, 2005.
19. P. L. Gould, Analysis of Plates and Shells. Englewood Cliffs, NJ: Prentice-Hall, 1999.
20. J. P. Gourret, N. Magnenat-Thalmann, and D. Thalmann, "Simulation of object and human skin deformations in a grasping task," in Proc. ACM SIGGRAPH, 1989, pp. 21-30.
21. P. E. Grafton and D. R. Strome, "Analysis of axisymmetric shells by the direct stiffness method," J. AIAA, vol. 3, pp. 2138-2145, 1963.
22. A. E. Green and W. Zerna, Theoretical Elasticity. Oxford: Clarendon, 1968.
23. S. Hirai, T. Tsuboi, and T. Wada, "Robust grasping manipulation of de-formable objects," in Proc. IEEE Symp. Assembly Task Plann., 2001, pp. 411-416.
24. T. J. R. Hughes and W. K. Liu, "Nonlinear finite element analysis of shells: Part I. Three-dimensional shells," Comput. Methods Appl. Mech. Eng., vol. 26, pp. 331-362, 1981.
25. Y.-B. Jia and J. Tian, "Deformations of general parametric shells: Computation and experiment," in Proc. IEEE/RSJ Intl. Conf. Intell. Robots Syst., 2008, pp. 1796-1803.
26. A. Kamoulakos, "Understanding and improving the reduced integration of Mindlin shell elements," Int. J. Numer. Methods Eng., vol. 26, pp. 2009-2029, 1988.
27. A. Laulusa, O. A. Bauchau, J.-Y. Choi, V. B. C. Tan, and L. Li, "Evaluation of some shear deformable shell elements," Int. J. Solids Struct., vol. 43, pp. 5033-5054, 2006.
28. A. M. Ladd and L. E. Kavraki, "Using motion planning for knot untangling," Int. J. Robot. Res., vol. 23, pp. 797-808, 2004.
29. C. Loop, "Smooth subdivision surfaces based on triangles," M.S. thesis, Univ. Utah, Salt Lake City, UT, 1987.
30. A. E. H. Love, A Treatise on the Mathematical Theory of Elasticity, 4th ed. New York: Dover, 1927.
31. Q. Luo and J. Xiao, "Contact and deformation modeling for interactive environments," IEEE Trans. Robot., vol. 23, no. 3, pp. 416-430, Jun. 2007.
32. T. Matsuno and T. Fukuda, "Manipulation of flexible rope using topological model based on sensor information," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2006, pp. 2638-2643.
33. T. McInerney and D. Terzopoulos, "Deformable models in medical image analysis: A survey," Med. Image Anal., vol. 1, pp. 91-108, 1996.
34. M. Moll and L. E. Kavraki, "Path planning for deformable linear objects," IEEE Trans. Robot. Automat., vol. 22, no. 4, pp. 625-636, Aug. 2006.
35. A. Nealen, M. Müller, R. Keiser, E. Boxerman, and M. Carlson, "Physically based deformable models in computer graphics," Comput. Graph. Forum, vol. 25, pp. 809-836, 2006.
36. V. V. Novozhilov, Foundnations of the Nonlinear Theory of Elasticity. Rochester, NY: Graylock, 1953; Dover, 1999.
37. V. V. Novozhilov, The Theory of Thin Shells. Gronigen, The Netherlands: Noordhoff, 1959.
38. B. O'Neill, Elementary Differential Geometry. New York: Academic, 1966.
39. E. P. Popov, J. Penzien, and Z. A. Lu, "Finite element solution for axisym-metric shells," J. Eng. Mech. Div., vol. 90, pp. 119-145, 1965.
40. A. Pressley, Elementary Differential Geometry. New York: Springer-Verlag, 2001.
41. J. N. Reddy, An Introduction to Nonlinear Finite Element Analysis. London, U.K.: Oxford Univ. Press, 2004.
42. A. Remde, D. Henrich, and H. Worn, "Picking-up deformable linear objects with industrial robots," presented at the Int. Symp. Robot., Tokyo, Japan, 1999.
43. A. S. Saada, Elasticity: Theory and Applications. Melbourne, FL: Krieger, 1993.
44. M. Saha and P. Isto, "Motion planning for robotic manipulation of de-formable linear objects," in Proc. IEEE Int. Conf. Robot. Autom., 2006, pp. 2478-2484.
45. L. Segerlind, Applied Finite Element Analysis. New York: Wiley, 1984.
46. J. Stam, "Evaluation of loop subdivision surfaces," in Proc. ACM SIGGRAPH [CD-ROM], 1998.
47. D. Terzopoulos, J. C. Platt, and A. H. Barr, "Elastically deformable models," in Proc. ACM SIGGRAPH, 1987, pp. 205-214.
48. D. Terzopoulos and K. Waters, "Physically-based facial modeling, analysis, and animation," J. Vis. Comput. Anim., vol. 1, pp. 73-80, 1990.
49. B. Thomaszewski, M. Wacker, and W. Straßer, "A consistent bending model for cloth simulation with corotational subdivision finite elements," in Proc. Eurograph/SIGGRAPH Symp. Comp. Anim., 2006, pp. 107-116.
50. J. Tian and Y.-B. Jia, "Modeling deformable shell-like objects graspedbya robot hand," in Proc. IEEE Int. Conf. Robot. Autom., 2009, pp. 1297-1302.
51. S. P. Timoshenko and S. Woinowsky-Krieger, Theory of Plates and Shells, 2nd ed. New York: McGraw-Hill, 1959.
52. X. Tu and D. Terzopoulos, "Artificial fishes: Physics, locomotion, perception, behavior," in Proc. ACM SIGGRAPH, 1994, pp. 43-50.
53. H. Wakamatsu, S. Hirai, and K. Iwata, "Static analysis of deformable object grasping based on bounded force closure," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 1996, pp. 3324-3329.
54. H. Wakamatsu, E. Arai, and S. Hirai, "Knotting/unknotting manipulation of deformable linear objects," Int. J. Robot. Res., vol. 25, pp. 371-395, 2006.
55. H. Wakamatsu and S. Hirai, "Static modeling of linear object deformation based on differential geometry," Int. J. Robot. Res., vol. 23, pp. 293-311, 2004.
56. H. Wakamatsu, E. Morinaga, E. Arai, and S. Hirai, "Deformation modeling of belt object with angles," in Proc. IEEE Int. Conf. Robot. Autom., 2009, pp. 606-611.
57. K. Washizu, Variational Methods in Elasticity and Plasticity. New York: Pergamon, 1968.
58. K. Waters, "A muscle model for animating three-dimensional facial expression," in Proc. ACM SIGGRAPH, 1987, pp. 17-24.
59. H. T. Y. Yang, S. Saigal, and D. G. Liaw, "Advances of thin shell finite elements and some applications - Version 1," Comput. Struct., vol. 35, pp. 481-504, 1990.
60. H. T. Y. Yang, S. Saigal, A. Masud, and R. K. Kapania, "A survey of recent shell finite elements," Int. J. Numer. Methods Eng., vol. 47, pp. 101-127, 2000.
61. O. C. Zienkiewicz, The Finite Element Method, 3rd ed. New York: McGraw-Hill, 1979.