AH@sri-unix.UUCP (06/11/84)
resent physical objects but the development of a framework or theory in which to reason about them. In this talk such a development is investigated and a fundamental theorem concerning the motion of objects in contact is proved. The simplest form of this theorem states that if two objects in contact can be moved to another configuration in which they are in contact, then there is a way to move them from the first configuration to the second configuration such that the objects remain in contact throughout the motion. The obvious applications of this result in compliant motion and also applications in motion planning are discussed. HOST: Professor Silvio Micali