結び目形状を含めた線状物体の変形モデリング(<特集>変形と力覚) Modeling of Linear Object Deformation Including Knotted Shape

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A modeling of linear object deformation including knotted shape is presented. Deformable linear objects such as tubes, cords, and wires are used widely; data transmission, object transportation, fixing or packing of objects, and so on. Such manipulative tasks include knotting. They can be also knotted in order to make them compact for their storage or transportation. Therefore, it is important for linear object manipulation to analyze knotting. In this paper, we develop an analytical method to model the shape of a deformable linear object, especially its knotted shape. Firstly , a geometric representation to describe the shape of a linear object with flexural and torsional deformation is introduced. The internal energy of the object and the geometric constraints imposed on it are then formulated. The shape of the object in the stable state can be derived by minimizing the internal energy under the geometric constraints. Secondly, procedure to compute the deformed shape is developed by applying a nonlinear programming technique. Thirdly, the above method is applied to the knotted shape of the object. The object contacts with itself at some regions and frictional force yielded there can influence its shape when it is knotted. Therefore, friction by self-contact of the object is considered. Finally, the validity of our method is demonstrated by measuring the knotted shape of rubber cord.

収録刊行物

  • 日本バーチャルリアリティ学会論文誌

    日本バーチャルリアリティ学会論文誌 8(3), 287-294, 2003

    特定非営利活動法人 日本バーチャルリアリティ学会

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各種コード

  • NII論文ID(NAID)
    110008746890
  • NII書誌ID(NCID)
    AA11448578
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    1344011X
  • NDL 記事登録ID
    6718026
  • NDL 雑誌分類
    ZM2(科学技術--科学技術一般--大学・研究所・学会紀要)
  • NDL 請求記号
    Z14-B420
  • データ提供元
    CJP書誌  CJP引用  NDL  NII-ELS  J-STAGE 
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