Yizhar Or, Elon Rimon. On the hybrid dynamics of planar mechanisms supported by frictional contacts. II: stability of two-contact rigid body postures. In 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, May 19-23, 2008, Pasadena, California, USA. pages 1219-1224, IEEE, 2008. [doi]
Abstract is missing.