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ICRA
2002
IEEE

Computing Wrench Cones for Planar Contact Tasks

9 years 4 months ago
Computing Wrench Cones for Planar Contact Tasks
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
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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