Robotics: Science and Systems IV

Friction-Induced Velocity Fields for Point Parts Sliding on a Rigid Oscillated Plate

Thomas Vose, Paul Umbanhowar, Kevin Lynch

Abstract: We show that small amplitude periodic motion of a rigid plate causes isolated point parts on the plate to move as if they are in a position-dependent velocity field. By allowing the plate to oscillate with six-degrees-of-freedom, we can create a large family of programmable velocity fields. A subset of the fields in this family exhibit sink and source behavior, opening up the possibility of using a single rigid plate for applications such as sensorless part orientation and uncertainty-reducing transport.

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Bibtex:

@INPROCEEDINGS{Vose-RSS08,
    AUTHOR    = {Thomas Vose, Paul Umbanhowar, Kevin Lynch},
    TITLE     = {Friction-Induced Velocity Fields for Point Parts Sliding on a Rigid Oscillated Plate},
    BOOKTITLE = {Proceedings of Robotics: Science and Systems IV},
    YEAR      = {2008},
    ADDRESS   = {Zurich, Switzerland},
    MONTH     = {June},
    DOI       = {10.15607/RSS.2008.IV.029} 
}