• DocumentCode
    299884
  • 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
  • Volume
    1
  • fYear
    1995
  • fDate
    21-27 May 1995
  • Firstpage
    439
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
  • Conference_Location
    Nagoya
  • ISSN
    1050-4729
  • Print_ISBN
    0-7803-1965-6
  • Type

    conf

  • DOI
    10.1109/ROBOT.1995.525323
  • Filename
    525323
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=299884