Simulation of Flexible Objects in Robotics

  • Andreas Rune Fugl
  • Henrik Gordon Petersen
  • Morten Willatzen
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7628)


In this paper, we present what appears to be the first simulation model for grasping of flexible bodies based on the three-dimensional elastic constitutive relations and Newton’s Second Law for solids known as the Navier-Cauchy equations. We give an overview of the most important equations for strain, stress, and elasticity tensors based on which we outline the format of the Navier-Cauchy equations of motion in the general anisotropic case. We then specifically study the equations for homogeneous isotropic bodies. We formulate a numerical scheme based on finite differences for solving the equations. Finally, we present preliminary experimental work and outline future directions.


robotics grasping elasticity finite difference 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Andreas Rune Fugl
    • 1
    • 2
  • Henrik Gordon Petersen
    • 1
  • Morten Willatzen
    • 2
  1. 1.The Maersk Mc-Kinney Moller InstituteUniversity of Southern DenmarkDenmark
  2. 2.The Mads Clausen InstituteUniversity of Southern DenmarkDenmark

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