CaltechAUTHORS
Published May 1995 | Version Published
Book Section - Chapter Open

The Stability of Heavy Objects with Multiple Contacts

Creators

  • 1. ROR icon California Institute of Technology

Abstract

In both robot grasping and robot locomotion, we wish to hold objects stably in the presence of gravity. We present a derivation of second-order stability conditions for a supported heavy object, employing the tool of Stratified Morse theory. We then apply these general results to the case of objects in the plane.

Additional Information

© 1995 IEEE. Date of Current Version: 06 August 2002.

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Published - MASicra95.pdf

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Eprint ID
29434
Resolver ID
CaltechAUTHORS:20120223-095243506

Dates

Created
2012-02-23
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Updated
2021-11-09
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