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Nonprehensile Dynamic Shaping of a Sheet-like Rheological Object

[ Abstract ]

  This work discusses a dynamic nonprehensile manipulation of a deformable object, where the shape of a thin rheological object is dynamically controlled by the combination of the inertial force and the frictional one generated by the plate's rapid motion. The deformation of the rheological object includes both the elastic deformation (temporary deformation) which completely recovers and the plastic deformation (permanent deformation) which remains after the external force disappears. We propose a shaping method for a thin rheological object.

MPEG Movie(0.8M)

Simulation: enlarging an object.

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Experiment: enlarging an object made by wheat dough.

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