A GJK-based approach to contact force feasibility and distribution for multi-contact robots

A GJK-based approach to contact force feasibility and distribution for multi-contact robots

10.1016/j.robot.2010.12.006

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Bibliographic Details
Main Authors: Zheng, Y., Chew, C.-M., Adiwahono, A.H.
Other Authors: MECHANICAL ENGINEERING
Format: Article
Published: 2014
Subjects:
Contact force distribution
Equilibrium
GJK distance algorithm
Linear programming
Minimum norm solution
Multi-contact robots
Online Access:http://scholarbank.nus.edu.sg/handle/10635/54221
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Institution: National University of Singapore

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http://scholarbank.nus.edu.sg/handle/10635/54221

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