Planar Sliding Using Friction Patches

Mahdi Ghazaei, Cognibotics AB

Abstract:  Flat objects lying on a surface are hard to grasp, but could be manipulated by sliding along the surface in a non-prehensile manner. This strategy is commonly employed by humans as pre-manipulation, for example to bring your cell phone to the edge of a table to pick it up. To endow robots with a similar capability, we make a mathematical model of planar sliding utilizing frictional contacts. The model reveals various properties of interaction through friction patches, which can be used for planning and control. Theoretical as well as experimental results are presented.