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 | |||||||||
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| Additional Information: | © 1994 IEEE. | |||||||||
| DOI: | 10.1109/ROBOT.1994.350938 | |||||||||
| 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: | INVALID USER | |||||||||
| Deposited On: | 26 May 2017 17:37 | |||||||||
| Last Modified: | 15 Nov 2021 17:33 |
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