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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 , Piscataway, N.J., pp. 391-398. ISBN 0-7803-3612-7.

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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.

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Additional Information:© 1997 IEEE. Date of Current Version: 06 August 2002.
Record Number:CaltechAUTHORS:20120130-074211167
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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:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:29011
Deposited By: Ruth Sustaita
Deposited On:30 Jan 2012 17:14
Last Modified:09 Nov 2021 17:02

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