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In this paper a new time-stepping method for simulating systems of rigid bodies is given. Unlike methods which take an instantaneous point of view, our method is based on impulse-momentum equations, and so does not need to explicitly resolve impulsive forces. On the other hand, our method is distinct from previous impulsive methods in that it does not… (More)

Three important problems in the study of grasping and manipulation by m ultiingered robotic hands are: a Given a grasp characterized by a set of contact points and the associated contact models, determine if the grasp has force closure; b If the grasp does not have force closure, determine if the ngers are able to apply a speciied resultant wrench o n t h e… (More)

— Advanced grasp control algorithms could benefit greatly from accurate tracking of the object as well as an accurate all-around knowledge of the system when the robot attempts a grasp. This motivates our study of the G-SL(AM) 2 problem, in which two goals are simultaneously pursued: object tracking relative to the hand and estimation of parameters of the… (More)

Cottle is the founder of the linear complementarity problem. This paper is motivated by an engineering application; like many such applications, complementarity plays a central role in the problem formulation, analysis, and solution. We are indebted to Professor Cottle for the fundamental contributions he has made in this eld, for his constant… (More)

We study the path planning problem, without obstacles, for closed kinematic chains with n links connected by spherical joints in space or revolute joints in the plane. The configuration space of such systems is a real algebraic variety whose structure is fully determined using techniques from algebraic geometry and differential topology. This structure is… (More)

The contribution of this paper is the expansion of the range of possibilities in the analysis, planning, and control of 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 external wrenches… (More)

Consider a system of rigid bodies with multiple concurrent contacts. The multi-rigid-body contact problem is to predict the accelerations of the bodies and the normal and friction loads acting at the contacts. This paper presents theoretical results for the multi-rigid-body contact problem under the assumptions that one or more contacts occur over locally… (More)