ICRA 2012 Paper Abstract


Paper WeB08.3

Umbanhowar, Paul (Northwestern University), Vose, Thomas (Northwestern University), Mitani, Atsushi (Sapporo City University), Hirai, Shinichi (Ritsumeikan Univ.), Lynch, Kevin (Northwestern University)

The Effect of Anisotropic Friction on Vibratory Velocity Fields

Scheduled for presentation during the Regular Session "Parts Handling and Manipulation" (WeB08), Wednesday, May 16, 2012, 11:00−11:15, Meeting Room 8 (Wacipi)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on July 20, 2018

Keywords Parts Feeding and Fixturing, Contact Modelling, Manipulation Planning


This paper explores the role of anisotropic friction properties in vibratory parts manipulation. We show that direction-dependent surface friction properties can be used in conjunction with a vibrating plate to help design friction-induced velocity fields on the surface of the plate. Theoretical, simulation, and experimental results are presented quantifying the anisotropic friction effects of textured surfaces such as micromachined silicon and fabrics.



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