Friction-induced velocity fields for point parts sliding on a rigid oscillated plate

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We show that small-amplitude periodic motion of a rigid plate causes point parts on the plate to move as if they are in a position-dependent velocity field. Further, we prove that every periodic plate motion maps to a unique velocity field. By allowing a plate to oscillate with six-degrees-of-freedom, we can create a large family of programmable velocity fields. We examine in detail sinusoidal plate motions that generate fields with either isolated sinks or squeeze lines. These fields can be exploited to perform tasks such as sensorless part orientation.

Original languageEnglish (US)
Title of host publicationRobotics
Subtitle of host publicationScience and Systems IV
PublisherMIT Press Journals
Pages222-229
Number of pages8
Volume4
ISBN (Print)9780262513098
StatePublished - Jan 1 2009
EventInternational Conference on Robotics Science and Systems, RSS 2008 - Zurich, Switzerland
Duration: Jun 25 2008Jun 28 2008

Other

OtherInternational Conference on Robotics Science and Systems, RSS 2008
CountrySwitzerland
CityZurich
Period6/25/086/28/08

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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