Journal of Robotics / 2010 / Article / Fig 6

Research Article

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

Figure 6

Minimization of the squared norm r1-r22 over rolling motions is attained when the straight line P1P2̅ connecting the two contact points becomes parallel to the vector (r1-r2); that is, O1O2̅ becomes parallel to P1P2̅.

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