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Mobility of bodies in contact - I: A new 2nd order mobility index for multiple-finger grasps

Rimon, Elon and Burdick, Joel (1994) Mobility of bodies in contact - I: A new 2nd order mobility index for multiple-finger grasps. In: Proceedings of the 1994 IEEE International Conference on Robotics and Automation. IEEE , Piscatway, NJ, pp. 2329-2335. ISBN 0-8186-5330-2 . https://resolver.caltech.edu/CaltechAUTHORS:20170525-171955701

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Abstract

Using a configuration-space approach, this paper develops a coordinate invariant 2nd order mobility index for a body, B, in frictionless contact with finger bodies A_1, ..., A_k. The index captures the inherent mobility of B in an equilibrium grasp due to 2nd order, or surface curvature, effects. It differentiates between grasps which are deemed equivalent by the classical 1st order theories, but are physically different. In a companion paper we discuss applications and provide physical justification for using 2nd order immobility effects.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ROBOT.1994.350938DOIArticle
http://resolver.caltech.edu/CaltechAUTHORS:RIMieeetra98aRelated ItemJournal Article
Additional Information:© 1994 IEEE.
Record Number:CaltechAUTHORS:20170525-171955701
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20170525-171955701
Official Citation:E. Rimon and J. Burdick, "Mobility of bodies in contact. I. A new 2nd order mobility index for multiple-finger grasps," Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, 1994, pp. 2329-2335 vol.3. doi: 10.1109/ROBOT.1994.350938
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:77785
Collection:CaltechAUTHORS
Deposited By: Kristin Buxton
Deposited On:26 May 2017 17:37
Last Modified:03 Oct 2019 18:01

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