Some remarks on the geometry of contact formation cells
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The contact formation cells of a polygonal planar system of rigid bodies in contact have been studied in [1]. There, it was shown that the CF-cells are smooth manifolds, but the methods used were too complicated to extend to three-dimensional polygonal rigid body systems. In this paper, we develop an alternative way to define contact formation cells. Under the new definition, we show that the contact formation cells are smooth manifolds, and further that all intersections of contact formation cells are smooth manifolds. The simplicity of the new definition makes it easy to prove the smoothness results for three-dimensional systems. Also, we investigate other extensions of the results in [1].
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Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots
IROS '95 - 1995 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS: HUMAN ROBOT INTERACTION AND COOPERATIVE ROBOTS, PROCEEDINGS, VOL 3