Mathematical Programming

, Volume 75, Issue 3, pp 441-465

First online:

Solvability theory for a class of hemivariational inequalities involving copositive plus matrices applications in robotics

  • D. GoelevenAffiliated withChargé de Recherches FNRS, Department of Mathematics, Facultés Universitaires N-D de la Paix
  • , G. E. StavroulakisAffiliated withDepartment of Engineering Sciences, Technical University of Crete
  • , P. D. PanagiotopoulosAffiliated withAristotle University, School of Technology, Chair of Steel StructuresInstitute for Technical Mechanics, Faculty of Mathematics and Physics, RWTH Aachen

Rent the article at a discount

Rent now

* Final gross prices may vary according to local VAT.

Get Access


The study of the equilibrium of an object-robotic hand system including nonmonotone adhesive effects and nonclassical friction effects leads to new inequality methods in robotics. The aim of this paper is to describe these inequality methods and provide a corresponding suitable mathematical theory.


Hemivariational Inequality Copositive Plus Matrix Unilateral Contact in Mechanics Robotics