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Passive Model Reduction and Switching for Fast Soft Object Simulation with Intermittent Contacts
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Yoon, Jaemin | - |
dc.contributor.author | Hong, Ilkwon | - |
dc.contributor.author | Lee, Dongjun | - |
dc.date.accessioned | 2022-11-11T08:07:24Z | - |
dc.date.available | 2022-11-11T08:07:24Z | - |
dc.date.created | 2022-10-19 | - |
dc.date.issued | 2019-11 | - |
dc.identifier.citation | 2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), pp.6963-6970 | - |
dc.identifier.issn | 2153-0858 | - |
dc.identifier.uri | https://hdl.handle.net/10371/187064 | - |
dc.description.abstract | We propose a novel fast simulation framework for soft objects/robots with intermittent contacts, whose contact areas/locations can be varying. We first perform a balanced model reduction of the full-order FEM (finite element method) model for each contact mode with the contact forcing as the input and the shape of the object/robot as the output. We then devise the strategy of passive model reduction and passive model switching of these reduced-order models (each with its contact mode) utilizing the techniques of our recently-proposed passive mid-point integration (for the passivity of each reduced-order model) and simultaneous diagonalization (for the passivity of model reduction and model switching). The efficacy of the theory is then demonstrated with simulation and experimental results. | - |
dc.language | 영어 | - |
dc.publisher | IEEE | - |
dc.title | Passive Model Reduction and Switching for Fast Soft Object Simulation with Intermittent Contacts | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/IROS40897.2019.8968132 | - |
dc.citation.journaltitle | 2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | - |
dc.identifier.wosid | 000544658405079 | - |
dc.identifier.scopusid | 2-s2.0-85081164577 | - |
dc.citation.endpage | 6970 | - |
dc.citation.startpage | 6963 | - |
dc.description.isOpenAccess | N | - |
dc.contributor.affiliatedAuthor | Lee, Dongjun | - |
dc.type.docType | Proceedings Paper | - |
dc.description.journalClass | 1 | - |
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