2018
FEM-Based Deformation Control for Dexterous Manipulation of 3D Soft Objects
IROS 2018poster
In this paper, a method for dexterous manipulation of 3D soft objects for real-time deformation control is presented, relying on Finite Element modelling. The goal is to generate proper forces on the fingertips of an anthropomorphic device during in-hand manipulation to produce desired displacements…