[2305.14289] Precise Object Sliding with Top Contact via Asymmetric Dual Limit Surfaces
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Computer Science > Robotics

arXiv:2305.14289 (cs)
[Submitted on 23 May 2023]

Title:Precise Object Sliding with Top Contact via Asymmetric Dual Limit Surfaces

Authors:Xili Yi, Nima Fazeli
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Abstract:In this paper, we discuss the mechanics and planning algorithms to slide an object on a horizontal planar surface via frictional patch contact made with its top surface. Here, we propose an asymmetric dual limit surface model to determine slip boundary conditions for both the top and bottom contact. With this model, we obtain a range of twists that can keep the object in sticking contact with the robot end-effector while slipping on the supporting plane. Based on these constraints, we derive a planning algorithm to slide objects with only top contact to arbitrary goal poses without slippage between end effector and the object. We validate the proposed model empirically and demonstrate its predictive accuracy on a variety of object geometries and motions. We also evaluate the planning algorithm over a variety of objects and goals demonstrate an orientation error improvement of 90\% when compared to methods naive to linear path planners.
Comments: 10 pages, 11 figures, accepted in Robotics: Science and Systems (RSS 2023), Daegu, Republic of Korea
Subjects: Robotics (cs.RO)
Cite as: arXiv:2305.14289 [cs.RO]
  (or arXiv:2305.14289v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2305.14289

Submission history

From: Xili Yi [view email]
[v1] Tue, 23 May 2023 17:33:37 UTC (10,363 KB)
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