Stratified Morse Theory

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Sign In. Access provided by: anon Sign Out. The bodies supporting the object induce a partition of the object's configuration space into strata corresponding to different contact arrangements.

Stratified Morse Theory

Stance stability becomes a geometric problem of determining whether the object's configuration is a local minimum of its potential energy function on the stratified configuration space. We use stratified Morse theory to develop a generic stance stability test that has the following characteristics. For a small number of contacts - less than three in 2D and less than six in 3D - stance stability depends both on surface normals and surface curvature at the contacts. Moreover, lower curvature at the contacts leads to better stability.

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Topological Perspectives on Stratification Learning

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15. Canonical Stratifications along Bisheaves
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