The stability of heavy objects with multiple contacts
- 19 November 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 439-445
- https://doi.org/10.1109/robot.1995.525323
Abstract
. In both robot grasping and robot locomotion,we wish to hold objects stably in the presence ofgravity. We present a derivation of second-order stabilityconditions for a supported heavy object, employingthe tool of Stratified Morse Theory. We then demonstratethe application of these general results to the caseof objects in the plane.1 IntroductionIn this paper we consider a heavy rigid object, B, whichis in frictionless contact with one or more rigid and immovablebodies, A 1 ; : : : ...Keywords
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