Quasi-static Analysis of Planar Sliding Using Friction Patches
This work addresses manipulation planning for robotics by providing a model to predict object motions under frictional contacts, though it appears incremental as it builds on existing quasi-static analysis methods.
The paper tackles the problem of modeling planar sliding of objects for non-prehensile manipulation by deriving a hybrid dynamical system through quasi-static analysis, with experimental results confirming its validity across a wide range of applications.
Planar sliding of objects is modeled and analyzed. The model can be used for non-prehensile manipulation of objects lying on a surface. We study possible motions generated by frictional contacts, such as those arising between a soft finger and a flat object on a table. Specifically, using a quasi-static analysis we are able to derive a hybrid dynamical system to predict the motion of the object. The model can be used to find fixed-points of the system and the path taken by the object to reach such configurations. Important information for planning, such as the conditions in which the object sticks to the friction patch, pivots, or completely slides against it are obtained. Experimental results confirm the validity of the model for a wide range of applications.