M. A. Peshkin, A. C. Sanderson The physics of motion of a
sliding object can be used to plan sensorless robot manipulation
strategies. Prediction of a sliding object’s motion is difficult
because the object’s distribution of support on the surface, and
the resulting frictional forces, are in general unknown. This
paper describes a new approach to the analysis of sliding
motion, which finds the set of object motions for all
distributions of support. The analysis results in the definition
of discrete regions of guaranteed sticking and slipping behavior
which lend themselves to use in planning. Unlike previous work
our approach produces quantitative bounds on the rate at which
predicted motions can occur. To illustrate a manipulation plan
which requires quantitative information for its construction, we
consider a strategy based on "herding" a sliding disk toward a
central goal by moving a robot finger in a decreasing spiral
about the goal. The optimal spiral is constructed, and its
performance discussed.