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Published May 1994 | Published
Book Section - Chapter Open

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


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.

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.

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August 20, 2023
August 20, 2023