Linear Object Modeling

Heads: Shinichi Hirai
Contact: Hidefumi Wakamatsu

Date: 1994 - 2004

Mailing address:
Dept. Robotics, Ritsumeikan Univ.
Kusatsu, Shiga 525-8577, Japan

Supported by:

Associated lab/group:
Dr. Wakamatsu (Osaka Univ.)
Dr. McCarragher (Australia National Univ.)

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Project Description

The goal of this project is to establish the modeling method for deformable linear objects such as cords and tubes. Differential geometry method is developed so that bend, twist, and extension of a deformable linear object in 3D space can be described on a computer.

Recently, many deformable soft objects are involved in various products. For example, cables and cords are used in electric products and tubes and wires are found in automobiles. Reduction of lead time in the design and the manufacture of products requires the evaluation of deformed shape of the deformable soft parts involved in the product during the design phase. In this research, we have establish a modeling technique of deformable linear objects including cords and tubes. Our method has the following features:

Applying this method, we can compute the deformed shape of a linear object with bend, twist, and extension in 3D space. Moreover, interference between a linear object and other objects can be evaluated. This method has been applied to evaluate the deformation of electric power cables by gravity.

Personnel

Name Title Degree
Hidefumi Wakamatsu Associate Professor, Osaka Univ. Ph.D

Publications

Articles
Conferences

Notes


Spatial deformation of linear object

Non-symmetric deformation of linear object

Kinking of linear object

Planar deformation of linear object (no loop)

Planar deformation of linear object (one loop)
 

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