On the hybrid dynamics of planar mechanisms supported by frictional contacts. I: necessary conditions for stability.

Yizhar Or Elon Rimon On the hybrid dynamics of planar mechanisms supported by frictional contacts. I: necessary conditions for stability. 1213-1218 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543369 conf/icra/2008 db/conf/icra/icra2008.html#OrR08