Fast equilibrium test and force distribution for multicontact robotic systems

Journal of Mechanisms and Robotics

Volumn 2, Issue 2, 2010, Pages 1-11

  Zheng, Yu ^a   Chew, Chee Meng ^a  

^a NATIONAL UNIVERSITY OF SINGAPORE   (Singapore)

Author keywords

Contact force distribution; Convex geometry; Equilibrium; Multicontact robotic system; Polyhedral convex cone

Indexed keywords

CONTACT FORCE DISTRIBUTION; CONVEX CONE; CONVEX GEOMETRY; MULTI-CONTACT; ROBOTIC SYSTEMS;

CONES; DISTRIBUTED COMPUTER SYSTEMS; DYNAMICAL SYSTEMS; FRICTION; LINEARIZATION; OPTIMIZATION; PRESSURE DISTRIBUTION; RAILROAD ROLLING STOCK; ROBOTICS; ROBOTS;

TOOLS;

EID: 78651551359     PISSN: 19424302     EISSN: 19424310     Source Type: Journal    
DOI: 10.1115/1.4001089     Document Type: Article

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