Title :
Stable poses of 3-dimensional objects
Author :
Mason, Richard ; Rimon, Elon ; Burdick, Joel
Author_Institution :
Dept. of Mech. Eng., California Inst. of Technol., Pasadena, CA, USA
Abstract :
This paper considers the gravitational stability of a frictionless 3-dimensional object in contact with immovable objects. Arbitrarily curved objects are considered. This paper also shows how to determine the region over which the object´s center of mass can move while the object maintains a given set of contacts and remains in stable equilibrium. We present symbolic solutions for up to three contacts and discuss numerical solutions for larger numbers of contacts. This analysis has application in planning the motions of quasi-statically walking robots over uneven terrain and the manipulation of heavy objects
Keywords :
robots; stability; arbitrarily curved objects; frictionless 3D object; gravitational stability; quasi-statically walking robots; stable equilibrium; stable poses; symbolic solutions; uneven terrain; Artificial intelligence; Computational geometry; Gravity; Legged locomotion; Mechanical engineering; Rain; Robot sensing systems; Solids; Space stations; Stability analysis;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.620069
