CaltechAUTHORS
  A Caltech Library Service

Mobility of bodies in contact - II: How forces are generated by curvature effects?

Rimon, Elon and Burdick, Joel (1994) Mobility of bodies in contact - II: How forces are generated by curvature effects? In: Proceedings of the 1994 IEEE International Conference on Robotics and Automation. Vol.3. IEEE , Piscataway, NJ, pp. 2336-2341. ISBN 0-8186-5330-2 . https://resolver.caltech.edu/CaltechAUTHORS:20170525-172555539

[img] PDF - Published Version
See Usage Policy.

628Kb

Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechAUTHORS:20170525-172555539

Abstract

We investigate the contact forces generated by 2nd order effects for a body B, in frictionless contact with finger bodies A_1,..., A_k. A simple paradox shows that rigid body models are inadequate to explain how contact forces are generated by 2nd order effects. A class of configuration-space based elastic deformation models are introduced, and are shown to explain the restraining forces produced by surface curvature. Using these elastic deformation models, we prove that any object which is kinematically immobilized to 1st or 2nd order is also dynamically locally asymptotically stable with respect to perturbations.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ROBOT.1994.350937DOIArticle
http://ieeexplore.ieee.org/document/350937/PublisherArticle
Additional Information:© 1994 IEEE. This work was supported by Office of Naval Research Young Investigator Award N00014-92-J-1920. The authors would also like to thank Prof. Matt Mason for calling our attention to the ellipse paradox.
Funders:
Funding AgencyGrant Number
Office of Naval Research (ONR)N00014-92-J-1920
Record Number:CaltechAUTHORS:20170525-172555539
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20170525-172555539
Official Citation:E. Rimon and J. Burdick, "Mobility of bodies in contact. II. How forces are generated by curvature effects?," Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, 1994, pp. 2336-2341 vol.3. doi: 10.1109/ROBOT.1994.350937
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:77786
Collection:CaltechAUTHORS
Deposited By: Kristin Buxton
Deposited On:26 May 2017 17:34
Last Modified:03 Oct 2019 18:01

Repository Staff Only: item control page