Modern Robotics, All Videos - Modern Robotics, Chapter 12.1.7: Form Closure

This is a video supplement to the book "Modern Robotics: Mechanics, Planning, and Control," by Kevin Lynch and Frank Park, Cambridge University Press 2017. See http://modernrobotics.org for information on the book, free software, and other materials. This video introduces the conditions for form closure, which occurs when a set of stationary contacts completely kinematically constrains a rigid body. Specifically, this video focuses on first-order form closure, which can be established based only on the contact locations and the contact normals, without considering the contact curvature. The conditions are expressed as a linear program for the general case as well as graphically for the planar case. The analysis is conservative in the following sense: if the first-order conditions are satisfied, the body is certainly in form closure; but if the first-order condiions are not satisfied, the body still may be in form closure by a higher-order analysis. This video is a brief summary of material from the book, and it is not meant to stand alone. For more details, such as an explanation of the notation, please consult the book and the other videos. Playlist for Chapter 12: https://www.youtube.com/playlist?list=PLggLP4f-rq03J3TLUyIW0ZGfejrTjHayw Playlist for all book videos: https://www.youtube.com/playlist?list=PLggLP4f-rq02vX0OQQ5vrCxbJrzamYDfx YouTube channel with all playlists: https://www.youtube.com/user/kevinl2145 Wiki for the book, including software and other supplements: http://modernrobotics.org Modern Robotics is now a series of online courses on Coursera! https://www.coursera.org/specializations/modernrobotics