Published May 1995
| Published
Book Section - Chapter
Open
The Stability of Heavy Objects with Multiple Contacts
- Creators
- Mason, Richard
- Rimon, Elon
- Burdick, Joel
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.
Additional Information
© 1995 IEEE. Date of Current Version: 06 August 2002.Attached Files
Published - MASicra95.pdf
Files
MASicra95.pdf
Files
(892.3 kB)
| Name | Size | Download all |
|---|---|---|
|
md5:c1e47815edb855dc2a7dbb0a77930dc3
|
892.3 kB | Preview Download |
Additional details
- Eprint ID
- 29434
- Resolver ID
- CaltechAUTHORS:20120223-095243506
- Created
-
2012-02-23Created from EPrint's datestamp field
- Updated
-
2021-11-09Created from EPrint's last_modified field