A Polyhedral Bound on the Indeterminate Contact Forces in Planar Quasi-Rigid Fixturing and Grasping Arrangements

E. Rimon, J.W. Burdick, T. Omata
2006 IEEE Transactions on robotics  
Elon Rimon (M'96) received the B.Sc. degree in computer engineering from the Technion, Israel Institute of Technology, Haifa, Israel, in 1985, and the Ph.D. degree in electrical engineering from Yale University, New Haven, CT, in 1990. He has been with the Department of Mechanical Engineering, the Technion, since 1994, where he is currently an Associate Professor. His research interests include computational geometry algorithms in robotics, sensor-based motion planning, mobile robot problems,
more » ... asping and fixturing, and robotic locomotion. Joel W. Burdick received the B.S. degree in mechanical engineering and chemistry from Duke University, Chapel Hill, NC, and the M.S. and Ph.D. degrees in mechanical engineering from Stanford University, Stanford, CA. He joined the Department of Mechanical Engineering, California Institute of Technology, Pasadena, in May 1988, where he is currently a Professor of mechanical engineering and bioengineering. His current interests include robotic locomotion, sensor-based robot motion planning, multifingered robotic grasping, neural prosthetics, and applied nonlinear control theory. Toru Omata (M'95) received the B.S., M.S., and Ph.D. degrees in control engineering from the Tokyo Institute of Technology, Tokyo, Japan, in 1981, 1983, and 1986, respectively. From 1986 to 1994 , he was a Researcher with the Electrotechnical Laboratory, Tsukuba, Japan. Since 1994, he has been an Associate Professor with the Tokyo Institute of Technology. His research interests include dexterous manipulation, multifingered hands, parallel robots, and legged robots.
doi:10.1109/tro.2005.862478 fatcat:yggifw543bgg3ej5ojdbyomuxu