Published May 1995
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The Stability of Heavy Objects with Multiple Contacts
Chicago
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Abstract
In both robot grasping and robot locomotion, we wish to hold objects stably in the presence of gravity. We present a derivation of second-order stability conditions for a supported heavy object, employing the tool of Stratified Morse theory. We then apply these general results to the case of objects in the plane.
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© 1995 IEEE. Date of Current Version: 06 August 2002.Attached Files
Published - MASicra95.pdf
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