The Stability of heavy Objects with Multiple Contacts
نویسندگان
چکیده
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-
منابع مشابه
The Stability of Heavy Objects with Multiple
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.
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