DefGraspSim: Physics-Based Simulation of Grasp Outcomes for 3D Deformable Objects

Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, internal organs, bottles/boxes) is critical for real-world applications such as food processing, robotic surgery, and household automation. However, developing grasp strategies for such objects is uniquely challenging. Unlike rigid...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 7; no. 3; pp. 6274 - 6281
Main Authors:	Huang, Isabella, Narang, Yashraj, Eppner, Clemens, Sundaralingam, Balakumar, Macklin, Miles, Bajcsy, Ruzena, Hermans, Tucker, Fox, Dieter
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.07.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Deformable models Deformation Evaluation Finite element analysis Finite element method Food processing Formability Grasping Grasping (robotics) Measurement Reproducibility Robotic surgery Simulation simulation and animation software tools for benchmarking and reproducibility Strain Stress Three dimensional models Three-dimensional displays
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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