On the Stability of Rigid Multibody Systems With Applications to Robotic Grasping and Locomotion

Author:

Várkonyi Péter L.1

Affiliation:

1. Department of Mechanics, Materials and Structures, Budapest University of Technology and Economics, Muegyetem rkp. 3, Budapest 1111, Hungary e-mail:

Abstract

This paper shows that the equilibria of a wide class of multibody systems with quasi-rigid, frictional, or frictionless supports correspond to local minima of their potential energy; hence they are stable against small perturbations of external forces. This is a generalization of a theorem by Howard and Kumar on the stability of a single rigid body held by a gripper. It is also demonstrated that ambiguous equilibria (those, which coexist with the possibility of accelerating motion) may be stable. These results help finding safe grasps on nonrigid objects and assessing the stability of quasi-static robots moving over complex terrains.

Publisher

ASME International

Subject

Mechanical Engineering

Cited by 8 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3