Reduced Basis Methods for Efficient Simulation of a Rigid Robot Hand Interacting with Soft Tissue

@inproceedings{Shuva2021ReducedBM,
  title={Reduced Basis Methods for Efficient Simulation of a Rigid Robot Hand Interacting with Soft Tissue},
  author={Shahnewaz Shuva and Patrick Buchfink and Oliver R{\"o}hrle and Bernard Haasdonk},
  booktitle={Large-Scale Scientific Computing},
  year={2021}
}
We present efficient reduced basis (RB) methods for the simulation of a coupled problem consisting of a rigid robot hand interacting with soft tissue material. The soft tissue is modeled by the linear elasticity equation and discretized with the Finite Element Method. We look at two different scenarios: (i) the forward simulation and (ii) a feedback control formulation of the model. In both cases, large-scale systems of equations appear, which need to be solved in real-time. This is essential… 
1 Citations

FEEDBACK CONTROL FOR A COUPLED SOFT TISSUE SYSTEM BY KERNEL SURROGATES

With this procedure, the curse of dimensionality that occurs in the determination of the value function via Hamilton-Jacobi-Bellman equation is overcome and the resulting feedback control is very accurate, robust and real-time capable.

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