Robot hands and the mechanics of manipulation
Robot hands and the mechanics of manipulation
Constructing force-closure grasps
International Journal of Robotics Research
Introduction to theoretical kinematics
Introduction to theoretical kinematics
Liapunov stability of force-controlled grasps with a multi-fingered hand
International Journal of Robotics Research
Perception, planning, and control for autonomous walking with the Ambler planetary rover
International Journal of Robotics Research
Stable pushing: mechanics, controllability, and planning
International Journal of Robotics Research
On computing four-finger equilibrium and force-closure grasps of polyhedral objects
International Journal of Robotics Research
Motion Planning of Legged Robots
SIAM Journal on Computing
International Journal of Robotics Research
Athlete: A cargo handling and manipulation robot for the moon: Research Articles
Journal of Field Robotics - Special Issue on Space Robotics, Part III
International Journal of Robotics Research
Reliable, Built-in, High-Accuracy Force Sensing for Legged Robots
International Journal of Robotics Research
Testing Static Equilibrium for Legged Robots
IEEE Transactions on Robotics
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Quasistatic legged locomotion over uneven terrains requires characterization of the mechanismâ聙聶s feasible equilibrium postures. This paper characterizes the feasible equilibrium postures of mechanisms supported by three frictional point contacts in a three-dimensional gravitational environment, for a subclass of contact arrangements, called tame, for which the friction cones lie above the plane spanned by the contacts. The kinematic structure of the mechanism is lumped into a single rigid body Î聮 having the same contacts with the environment and a variable center of mass. The equilibrium postures associated with a given set of contacts become the center-of-mass locations of Î聮 that maintain a feasible equilibrium with respect to gravity. The paper establishes the relations between the feasible equilibrium region and the classical support polygon principle. For tame 3-contact arrangements, the paper identifies and characterizes geometrically three types of boundary curves of the feasible equilibrium region, where two of them are obtained is closed-from, and the third is given implicitly as a solution of a set of nonlinear equations, which can be traced numerically. The three types of boundary curves are then associated with the onset of three different modes of non-static contact motions. Finally, the paper reports on experimental results that verify the theoretical predictions by using a 3-legged prototype.