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. https://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 | ||||||
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| Additional Information: | © 1995 IEEE. Date of Current Version: 06 August 2002. | ||||||
| DOI: | 10.1109/ROBOT.1995.525323 | ||||||
| Record Number: | CaltechAUTHORS:20120223-095243506 | ||||||
| Persistent URL: | https://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: | 09 Nov 2021 17:07 |
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