Granular Resistive Force Theory Implementation for Three-Dimensional Trajectories

Modelling interaction forces as bodies intrude into granular media is a longstanding challenge in the design and control of machines that navigate and manipulate these highly complex materials. Granular Resistive Force Theory, or RFT, is a flexible, reduced-order model for predicting intrusion force...

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Veröffentlicht in:	IEEE robotics and automation letters Jg. 6; H. 2; S. 1887 - 1894
Hauptverfasser:	Treers, Laura K., Cao, Cyndia, Stuart, Hannah S.
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Piscataway IEEE 01.04.2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Computational geometry Contact modeling Convexity Discrete element method dynamics Force Granular materials Granular media Hulls Media methods and tools for robot system design Plant roots Reduced order models Scaling factors Software Solid modeling Substrates Three dimensional models Three-dimensional displays Trajectory Trajectory analysis Two dimensional bodies Two dimensional displays Two dimensional models
ISSN:	2377-3766, 2377-3766
Online-Zugang:	Volltext
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