Active outline shaping of a rheological object based on plastic deformation distribution

Kayo Yoshimoto, Mitsuru Higashimori, Kenjiro Tadakuma, Makoto Kaneko

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper discusses a shaping strategy of a rheological object whose deformation characteristic includes both elasticity and plasticity. We first introduce a seven-nodes viscoelastic model for approximating the outline and the dynamic characteristics of the object. Then, we show a shaping method of the object's outline, where the ratio between the object's length in the grasping direction and that in the perpendicular one is controlled by using a parallel jaw gripper. Based on the plastic deformation distribution for the integrated input stress, the proposed method can actively manage the final object's outline. In addition to the contribution on simplifying the gripper's degree of freedom, this method has the advantage that the handling time is drastically reduced, compared with the position based passive method. We finally show the experimental results for confirming the validity of the proposed method.

Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages1386-1391
Number of pages6
DOIs
Publication statusPublished - 2011
Externally publishedYes
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 2011 Sep 252011 Sep 30

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period11/9/2511/9/30

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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