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Fast Computation of Optimal Contact Forces
Convex optimization force closure friction cone grasp force interior-point method
2015/7/10
We consider the problem of computing the smallest contact forces, with point-contact friction model, that can hold an object in equilibrium against a known external applied force and torque. It is kno...
Numerical Computation of Large Deviations Exponents via Simulation
Large deviations simulation regeneration eigenvalue problem,distribution arkov chains
2015/7/8
Consider the problem of numerically computing the exponential rate at which the tail of the hitting time of a Markov chain to a given set decreases to zero. One approach involves computing the solutio...