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This paper is concerned with the problem of identifying robust equilibrium postures of a planar mechanism supported by fixed frictional contacts in a twodimensional gravitational field. The complex kinematic structure of the mechanism is lumped into a single rigid body, B, with a variable center of mass. Inertial forces generated by moving parts of the mechanism are lumped into a neighborhood of wrenches centered at the nominal gravitational wrench. The identification of the robust equilibriumdoi:10.1109/robot.2005.1570127 dblp:conf/icra/OrR05 fatcat:ujlhqomdnfhf5j2tnuc4a2rw54