Robotics: Science and Systems IV
Friction-Induced Velocity Fields for Point Parts Sliding on a Rigid Oscillated Plate
Thomas Vose, Paul Umbanhowar, Kevin LynchAbstract: 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.
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} }