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Stabilization of rigid bodies with frictional supports against dynamic perturbations

Várkonyi, P. L. and Gontier, David and Burdick, Joel W. (2011) Stabilization of rigid bodies with frictional supports against dynamic perturbations. In: 2011 15th IEEE International Conference on Intelligent Engineering Systems. IEEE , Piscataway, NJ, pp. 281-286. ISBN 978-1-4244-8954-1. http://resolver.caltech.edu/CaltechAUTHORS:20190621-143013043

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Abstract

Quasi-static robots supported by multiple contacts and Coulomb friction may be overturned by unwanted, arbitrarily small vibrations, under certain geometric conditions. The exact criteria of passive local dynamic stability for perfectly rigid objects (a natural idealization of robots) are currently unknown. In the present paper, we propose a minimalistic, robust, model-independent active stabilization scheme of planar objects via the manipulation of friction forces by wheels and brakes. The potential extensions of the new method to global stabilization, and to three dimensions are also discussed.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/INES.2011.5954759DOIArticle
Additional Information:© 2011 IEEE. PV has been supported by OTKA PD72368 and by a Bolyai Research Fellowship.
Funders:
Funding AgencyGrant Number
Hungarian Scientific Research Fund (OTKA)PD72368
Budapest University of TechnologyUNSPECIFIED
Record Number:CaltechAUTHORS:20190621-143013043
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20190621-143013043
Official Citation:P. L. Várkonyi, D. Gontier and J. W. Burdick, "Stabilization of rigid bodies with frictional supports against dynamic perturbations," 2011 15th IEEE International Conference on Intelligent Engineering Systems, Poprad, 2011, pp. 281-286. doi: 10.1109/INES.2011.5954759
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96634
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:22 Jun 2019 18:23
Last Modified:22 Jun 2019 18:23

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