The Stability of Heavy Objects with Multiple
نویسندگان
چکیده
In both robot grasping and robot locomo-tion, 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 Stratiied Morse Theory. We then demonstrate the application of these general results to the case of objects in the plane.
منابع مشابه
The Stability of heavy Objects with Multiple Contacts
In both robot grasping and robot locomotion, we wish t o hold objects stably in the presence of gravit . t ions f o r a supported heav ob‘ect, e m lo ing the tool of Stratified Morse Theory . &e t i e n a p p g t l e s e general results to the case of objects in the plane. We present a derivation of second-order stability con l i-
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