A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2013; you can also visit the original URL.
The file type is
This paper is concerned with the hybrid dynamics and stability of a planar rigid body supported by two frictional contacts in a gravitational field. The stability of equilibrium postures is investigated under initial perturbations which may involve sliding or separation of the contacts. The paper formulates the hybrid dynamics induced by collisions and impacts at the two contacts. The Zeno behavior of bouncing and clattering motion converging to limit points of one-or two-contactdoi:10.1109/robot.2008.4543370 dblp:conf/icra/OrR08a fatcat:lrvzf4svazhadihn32aynuqiee