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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

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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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Additional Information:© 1995 IEEE. Date of Current Version: 06 August 2002.
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INSPEC Accession Number5085910
Record Number:CaltechAUTHORS:20120223-095243506
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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:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:29434
Deposited By: Ruth Sustaita
Deposited On:23 Feb 2012 18:06
Last Modified:26 Dec 2012 14:52

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