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12

ICRA
2002
IEEE

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Computing Wrench Cones for Planar Contact Tasks

13 years 9 months ago

Computing Wrench Cones for Planar Contact Tasks

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The successful execution of any contact task fundamentally requires the application of wrenches (forces and moments) consistent with the task. We develop an algorithm for computing the entire set of wrenches consistent with achieving a given augmented contact mode (e.g., sliding at contact 1, rolling at contact 2, and approaching potential contact 3) for one ﬁxed and one moving part in the plane.

Devin J. Balkcom, Jeffrey C. Trinkle, E. J. Gottli

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Augmented Contact Mode | Contact Task | ICRA 2002 | Robotics | Successful Execution |

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Added	15 Jul 2010
Updated	15 Jul 2010
Type	Conference
Year	2002
Where	ICRA
Authors	Devin J. Balkcom, Jeffrey C. Trinkle, E. J. Gottlieb

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