Title :
The stability of heavy objects with multiple contacts
Author :
Mason, Richard ; Rimon, Elon ; Burdick, Joel
Author_Institution :
Dept. of Mech. Eng., California Inst. of Technol., Pasadena, CA, USA
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
Keywords :
gravity; legged locomotion; manipulators; mechanical contact; mechanical stability; stability; Stratified Morse theory; gravity; heavy objects; multiple contacts; robot grasping; robot locomotion; second-order stability conditions; Fingers; Friction; Gravity; Mechanical engineering; Object recognition; Robots; Stability analysis; Surface-mount technology;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525323
