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

Thomas H. Vose; Paul Umbanhowar; Kevin M. Lynch

doi:10.15607/rss.2008.iv.029

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

Thomas H. Vose, Paul Umbanhowar, Kevin M. Lynch

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	Robotics
Subtitle of host publication	Science and Systems IV
Editors	Jeff Trinkle, Oliver Brock, Fabio Ramos
Publisher	MIT Press Journals
Pages	222-229
Number of pages	8
ISBN (Print)	9780262513098
DOIs	https://doi.org/10.15607/rss.2008.iv.029
State	Published - 2009
Event	International Conference on Robotics Science and Systems, RSS 2008 - Zurich, Switzerland Duration: Jun 25 2008 → Jun 28 2008

Publication series

Name	Robotics: Science and Systems
Volume	4
ISSN (Electronic)	2330-765X

Other

Other	International Conference on Robotics Science and Systems, RSS 2008
Country/Territory	Switzerland
City	Zurich
Period	6/25/08 → 6/28/08

ASJC Scopus subject areas

Artificial Intelligence
Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.15607/rss.2008.iv.029

Cite this

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title = "Friction-induced velocity fields for point parts sliding on a rigid oscillated plate",

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.",

author = "Vose, {Thomas H.} and Paul Umbanhowar and Lynch, {Kevin M.}",

year = "2009",

doi = "10.15607/rss.2008.iv.029",

language = "English (US)",

isbn = "9780262513098",

series = "Robotics: Science and Systems",

publisher = "MIT Press Journals",

pages = "222--229",

editor = "Jeff Trinkle and Oliver Brock and Fabio Ramos",

booktitle = "Robotics",

address = "United States",

}

Vose, TH, Umbanhowar, P & Lynch, KM 2009, Friction-induced velocity fields for point parts sliding on a rigid oscillated plate. in J Trinkle, O Brock & F Ramos (eds), Robotics: Science and Systems IV. Robotics: Science and Systems, vol. 4, MIT Press Journals, pp. 222-229, International Conference on Robotics Science and Systems, RSS 2008, Zurich, Switzerland, 6/25/08. https://doi.org/10.15607/rss.2008.iv.029

Friction-induced velocity fields for point parts sliding on a rigid oscillated plate. / Vose, Thomas H.; Umbanhowar, Paul ; Lynch, Kevin M.
Robotics: Science and Systems IV. ed. / Jeff Trinkle; Oliver Brock; Fabio Ramos. MIT Press Journals, 2009. p. 222-229 (Robotics: Science and Systems; Vol. 4).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - Umbanhowar, Paul

AU - Lynch, Kevin M.

PY - 2009

Y1 - 2009

N2 - 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.

AB - 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.

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M3 - Conference contribution

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BT - Robotics

A2 - Trinkle, Jeff

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Y2 - 25 June 2008 through 28 June 2008

ER -

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

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