TY - GEN
T1 - Study of the relationship between the strain and strain rate for viscoelastic contact interface in robotic grasping
AU - Tsai, Chia-Hung
AU - Nishiyama, Jun
AU - Kao, Imin
AU - Higashimori, Mitsuru
AU - Kaneko, Makoto
PY - 2010/12/1
Y1 - 2010/12/1
N2 - In this paper, a nonlinear latency model is presented to describe the relationship between the strain and strain rate of the temporal responses in robotic grasping that involves viscoelastic contact interface. The results from experiments and simulation are presented, and are found to match well with each other. The nonlinear latency model was able to adequately represent both Type I and Type II relaxation responses. For the successive loading and holding with a soft contact, the model describes the behavior of step-wise increase of equilibrium strain and a polynomial relationship between the strain rate and the strain. The nonlinear latency model can successfully predict and model the behavior of anthropomorphic soft contact interface in grasping and manipulation when the grasped object is held in certain posture of prehension with repeated loading and/or unloading.
AB - In this paper, a nonlinear latency model is presented to describe the relationship between the strain and strain rate of the temporal responses in robotic grasping that involves viscoelastic contact interface. The results from experiments and simulation are presented, and are found to match well with each other. The nonlinear latency model was able to adequately represent both Type I and Type II relaxation responses. For the successive loading and holding with a soft contact, the model describes the behavior of step-wise increase of equilibrium strain and a polynomial relationship between the strain rate and the strain. The nonlinear latency model can successfully predict and model the behavior of anthropomorphic soft contact interface in grasping and manipulation when the grasped object is held in certain posture of prehension with repeated loading and/or unloading.
UR - http://www.scopus.com/inward/record.url?scp=78651491209&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5649734
DO - 10.1109/IROS.2010.5649734
M3 - Conference contribution
AN - SCOPUS:78651491209
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 592
EP - 597
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -