摘要: Deals with the stability of a rigid body under multiple contact forces. First, problem considered at force planning level, and distribution is formulated. Analytical conditions for distribution, unilateral frictional constraints, are studied on an illustrative example, Next, it shown that stabilization unstable can be done by simple control law. The this law formulated in terms force-induced stiffness tensor control-spring-induced calculated center. Finally, comments contradiction between Lyapunov objects drawn.
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