Computation and graphical characterization of robust multiple-contact postures in 2D gravitational environments

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2005, Issue , 2005, Pages 247-252

  Or, Yizhar ^a   Rimon, Elon ^a  

^a TECHNION ISRAEL INSTITUTE OF TECHNOLOGY   (Israel)

Author keywords

[No Author keywords available]

Indexed keywords

FRICTIONAL CONSTRAINTS; GRAVITATIONAL WRENCH; PLANAR MECHANISM; RIGID BODY;

COMPUTATION THEORY; GRAPHIC METHODS; GRAVITATIONAL EFFECTS; LINEAR PROGRAMMING; ROBUSTNESS (CONTROL SYSTEMS);

ROBOTIC ASSEMBLY;

EID: 33846147699     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2005.1570127     Document Type: Conference Paper

References (14)

1. T. Bretl, S. Rock, and J.C. Latombe. Motion planning for a three-limbed climbing robot in vertical natural terrain. In IEEE Int. Conf. on Robotics and Automation, pages 2946- 2953, 2003.
2. P. Dupont. The effect of Coulomb friction on the existence and uniqueness of the forward dynamics problem. In IEEE Int. Conf. on Robotics and Automation, pages 1442- 1447, 1992.
3. M. A. Erdmann. An exploration of nonprehensile two-palm manipulation. Int. J. of Robotics Research, 17(5):485-503, 1998.
4. Li Han, J.C. Trinkle, and Z.X. Li. Grasp analysis as linear matrix inequality problems. IEEE Trans. on Robotics and Automation, 16(6):663-674, 2000.
5. P. Lotstedt. Coulomb friction in two-dimensional rigid body systems. Zeitschrift fur Angewandte Mathematik und Mechanik, 61:605-615, 1981.
6. A. Madhani and S. Dubowsky. Motion planning of mobile multilimb robotic systems subject to force and friction constraints. In IEEE Int. Conf. on Robotics and Automation, pages 233-239, 1992.
7. M.T. Mason. Two Graphical Methods for Planar Contact Problems. IEEE/RSJ International Conference on Intelligent Robots and Systems, Intelligence for Mechanical Systems, pages 443-448, 1991.
8. M. T. Mason and Y. Wang. On the inconsistency of rigid-body frictional planar mechanics. In IEEE Int. Conf. on Robotics and Aut., pages 524-528, 1988.
9. R. Mason, J. W. Burdick, and E. Rimon. Stable poses of three-dimensional objects. In IEEE Int. Conf. on Robotics and Automation, pages 391-398, 1997.
10. Y. Or and E. Rimon. Robust multiple contact postures in a twodimensional gravitational field. In IEEE Int. Conf. on Robotics and Automation, pages 4783-4788, 2004.
11. Y. Or and E. Rimon. Computation and graphic characterization of robust multiple-contact postures in 2D gravitational environments. Tech. report, Dept. of Mechanical Engineering, Technion, http://robots.technion.ac.il, August 2004.
12. J. S. Pang and J. C. Trinkle. Stability characterizations of fixtured rigid bodies with coulomb friction. In IEEE Int. Conf. on Robotics and Automation, pages 361-368, 2000.
13. V. T. Rajan, R. Burridge, and J. T. Schwartz. Dynamics of rigid body in frictional contact with rigid walls. In IEEE Int. Conf. on Robotics and Automation, pages 671-677, 1987.
14. J. C. Trinkle, A. O. Farahat, and P. F. Stiller. First-order stability cells of active multi-rigid-body systems. IEEE Trans. on Robotics and Automation, 11(4):545-557, 1995.