Study of the relationship between the strain and strain rate for viscoelastic contact interface in robotic grasping

Chia-Hung Tsai, Jun Nishiyama, Imin Kao, Mitsuru Higashimori, Makoto Kaneko

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

1 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages592-597
Number of pages6
DOIs
StatePublished - 1 Dec 2010
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan
Duration: 18 Oct 201022 Oct 2010

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Conference

Conference23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan
CityTaipei
Period18/10/1022/10/10

Fingerprint Dive into the research topics of 'Study of the relationship between the strain and strain rate for viscoelastic contact interface in robotic grasping'. Together they form a unique fingerprint.

  • Cite this

    Tsai, C-H., Nishiyama, J., Kao, I., Higashimori, M., & Kaneko, M. (2010). Study of the relationship between the strain and strain rate for viscoelastic contact interface in robotic grasping. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 592-597). [5649734] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5649734