Journal of Robotics / 2010 / Article / Fig 3

Research Article

Modeling and Control of 2D Grasping under Rolling Contact Constraints between Arbitrary Shapes: A Riemannian-Geometry Approach

Figure 3

Rolling contact constraint is expressed by equalizing the velocity of contact point P1A(=P1) in the direction of the unit tangent vector b0 with that of P1B(=P1) in the same direction of b1. The velocity of P1A in the direction of the normal n1 should be equal to that of P1B in the same direction. It is therefore assumed that b0=b1.

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