Sliding manipulation of rigid bodies on a controlled 6-DoF plate

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


We model the full dynamics of a rigid part in three-point frictional sliding contact with a flat rigid 6-degree-offreedom plate. Given a periodic plate motion and the geometric, inertial, and frictional properties of the part, we define an asymptotic twist field mapping each part configuration to a unique part twist (linear and angular velocity). Asymptotic twist vectors in the field approximate the part's cycle-averaged twist at each configuration and are independent of time or the system's initial state. Simulations and experiments show that the trajectory of the part's configuration as it slides on the plate is well described by the field. With the ability to program arbitrary plate motions, part manipulation reduces to finding plate motions that generate asymptotic twist fields to accomplish desired tasks. Several simple fields useful for manipulation tasks (e.g., sensorless part alignment) are verified in simulation and experiment. For the special case of a rigid part with infinitesimal thickness, we show that the part's cycle-averaged twist for any configuration asymptotically converges to a unique asymptotic twist vector.

Original languageEnglish (US)
Title of host publicationRobotics
Subtitle of host publicationScience and Systems VII
EditorsHugh Durrant-Whyte, Nicholas Roy, Pieter Abbeel
PublisherMIT Press Journals
Number of pages8
ISBN (Print)9780262517799
StatePublished - 2012
EventInternational Conference on Robotics Science and Systems, RSS 2011 - Los Angeles, United States
Duration: Jun 27 2011Jul 1 2011

Publication series

NameRobotics: Science and Systems
ISSN (Electronic)2330-765X


OtherInternational Conference on Robotics Science and Systems, RSS 2011
Country/TerritoryUnited States
CityLos Angeles

ASJC Scopus subject areas

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


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