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Mobility of bodies in contact. I. A new 2nd order mobility index for multiple-finger grasps

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2 Author(s)
Rimon, E. ; Dept. of Mech. Eng., CALTECH, Pasadena, CA, USA ; Burdick, J.

Using a configuration-space approach, this paper develops a coordinate invariant 2nd order mobility index for a body, B, in frictionless contact with finger bodies A1,...,Ak . The index captures the inherent mobility of B in an equilibrium grasp due to 2nd order, or surface curvature, effects. It differentiates between grasps which are deemed equivalent by the classical 1st order theories, but are physically different. In a companion paper we discuss applications and provide physical justification for using 2nd order immobility effects

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994

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