scientific article; zbMATH DE number 5872221

zbMATH Open1219.93074MaRDI QIDQ3086728FDOQ3086728

Authors Suguru Arimoto

Publication date 30 March 2011

zbMATH Keywords

Morse-Bott functionmulti-joint robot fingersstabilization of grasping

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85) Robust stability (93D09)

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• Dynamic force/torque balance of 2D polygonal objects by a pair of rolling contacts and sensory-motor coordination

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