Basic Study on Grasping of Soft Object by Finite Element Method Considering Gravity

摘要

We proposed a method that enables to deform a soft object using a linear Finite Element Method (FEM) in real-time. In the proposed technique, since the calculation amount is reduced to O(n) (n: number of nodes), grasping is enabled in virtual space. In this paper, we studied grasping of a soft object taking gravity into consideration. Some simulations using a stiffness equation containing gravity demonstrated the validity of our proposal.