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    ICRA
    2002
    IEEE
    123views Robotics» more  ICRA 2002»
    Computing Wrench Cones for Planar Contact Tasks
    14 years 5 months ago
    Computing Wrench Cones for Planar Contact Tasks
    Download  www.cs.cmu.edu
    The successful execution of any contact task fundamentally requires the application of wrenches (forces and moments) consistent with the task. We develop an algorithm for computin...
    Devin J. Balkcom, Jeffrey C. Trinkle, E. J. Gottli...
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