A new methodology for deformable object simulation

Zhong, Yongmin; Shirinzadeh, B.; Alici, G.; Smith, J.

doi:10.1109/ROBOT.2005.1570391

Access Status

Fulltext not available

Authors

Zhong, Yongmin

Shirinzadeh, B.

Alici, G.

Smith, J.

Date

2005

Type

Conference Paper

Metadata

Show full item record

Citation

Zhong, Yongmin and Shirinzadeh, Bijan and Alici, Gursel and Smith, Julian. 2005. A new methodology for deformable object simulation, in Proceedings of the IEEE International Conference on Robotics and Automation: Robots get closer to humans (ICRA '05), Apr 18-22 2005, pp. 1902-1907. Barcelona, Spain: IEEE Robotics and Automation Society.

Source Title

Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005.

Source Conference

Robotics and Automation, 2005. ICRA 2005.

Abstract

This paper presents a new methodology for the deformation of soft objects by drawing an analogy between heat conduction and elastic deformation. The potential energy stored in an elastic body as a result of a deformation caused by an external force is propagated among mass points by the principle of heat conduction. An improved heat conduction model is developed for propagating the energy generated by the external force in a natural manner. A method is presented to derive the internal forces from the potential energy distribution. This methodology not only deals with large-range deformation, but also accommodates both isotropic and anisotropic materials by simply changing thermal conductivity constants. Examples are presented to demonstrate the efficiency of the proposed methodology.