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Mass Spring Model (MSM) and Finite Element Method(FEM) are the two basic models for soft tissue deformation simulation. MSM has high computation efficiency and low physical accuracy, while the case for FEM is just the reverse. How to simulate the deformation of the tissue in real time and accurately is still a challenging. This paper proposed an improved MSM by determining the parameters of MSM using...
In this work, a novel point stabilization control strategy for mobile robots which moves on uneven surface is presented. Firstly, sliding mode method is adopted to extend the nonlinear kenimatic control law to dynamic system, so that the robot is driven by torques. Then, to solve the speed and torque jump problem, the neural dynamics model is integrated into the presented controller. In addition,...
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