A GJK-based approach to contact force feasibility and distribution for multi-contact robots

Robotics and Autonomous Systems

Volumn 59, Issue 3-4, 2011, Pages 194-207

  Zheng, Y ^a   Chew, C M ^a   Adiwahono, A H ^a  

^a NATIONAL UNIVERSITY OF SINGAPORE   (Singapore)

Author keywords

Contact force distribution; Equilibrium; GJK distance algorithm; Linear programming; Minimum norm solution; Multi contact robots

Indexed keywords

CONTACT FORCE DISTRIBUTION; EQUILIBRIUM; GJK DISTANCE ALGORITHM; MINIMUM NORM SOLUTION; MULTI-CONTACT;

ALGORITHMS; LINEAR PROGRAMMING; LINEAR SYSTEMS; OPTIMIZATION; PRESSURE DISTRIBUTION; RAILROAD ROLLING STOCK; ROBOTS;

ROBOT PROGRAMMING;

EID: 79952039990     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2010.12.006     Document Type: Article

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