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

Figure 4

Definitions of tangent vectors ${\mathit{b}}_i\text{,}$${\mathit{b}}_{0i}$ and normals ${\mathit{n}}_i$ and ${\mathit{n}}_{0i}$ at contact points $P_i$ for $i=\mathrm{1,2}.$