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The Stability of Heavy Objects with Multiple Contacts

Mason, Richard and Rimon, Elon and Burdick, Joel (1995) The Stability of Heavy Objects with Multiple Contacts. In: Proceedings of 1995 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, N.J., pp. 439-445. ISBN 0-7803-1966-4 http://resolver.caltech.edu/CaltechAUTHORS:20120223-095243506

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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.


Item Type:Book Section
Related URLs:
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http://dx.doi.org/10.1109/ROBOT.1995.525323DOIUNSPECIFIED
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=525323PublisherUNSPECIFIED
Additional Information:© 1995 IEEE. Date of Current Version: 06 August 2002.
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INSPEC Accession Number5085910
Record Number:CaltechAUTHORS:20120223-095243506
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20120223-095243506
Official Citation:Mason, R.; Rimon, E.; Burdick, J.; , "The stability of heavy objects with multiple contacts," Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on , vol.1, no., pp.439-445 vol.1, 21-27 May 1995 doi: 10.1109/ROBOT.1995.525323 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=525323&isnumber=11429
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:29434
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:23 Feb 2012 18:06
Last Modified:26 Dec 2012 14:52

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