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Stable Poses of 3-Dimensional Objects

Mason, Richard and Rimon, Elon and Burdick, Joel (1997) Stable Poses of 3-Dimensional Objects. In: Proceedings of 1997 IEEE International Conference on Robotics and Automation. IEEE International Conference on Robotics and Automation . IEEE , Piscataway, N.J., pp. 391-398. ISBN 0-7803-3612-7 http://resolver.caltech.edu/CaltechAUTHORS:20120130-074211167

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Abstract

This paper considers the gravitational stability of a frictionless 3-dimensional object in contact with immovable objects. Arbitrarily curved objects are considered. This paper also shows how to determine the region over which the object's center of mass can move while the object maintains a given set of contacts and remains in stable equilibrium. We present symbolic solutions for up to three contacts and discuss numerical solutions for larger numbers of contacts. This analysis has application in planning the motions of quasi-statically walking robots over uneven terrain and the manipulation of heavy objects.


Item Type:Book Section
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http://dx.doi.org/10.1109/ROBOT.1997.620069 DOIUNSPECIFIED
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=620069&tag=1PublisherUNSPECIFIED
Additional Information:© 1997 IEEE. Date of Current Version: 06 August 2002.
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INSPEC Accession Number5678400
Record Number:CaltechAUTHORS:20120130-074211167
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20120130-074211167
Official Citation:Mason, R.; Rimon, E.; Burdick, J.; , "Stable poses of 3-dimensional objects," Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on , vol.1, no., pp.391-398 vol.1, 20-25 Apr 1997 doi: 10.1109/ROBOT.1997.620069 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=620069&isnumber=13464
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:29011
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:30 Jan 2012 17:14
Last Modified:30 Jan 2012 17:14

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