Dual asymmetric limit surfaces and their applications to planar manipulation

In this paper, we present models and planning algorithms to slide an object on a planar surface via frictional patch contact made with its top surface, whether the surface is horizontal or inclined. The core of our approach is the asymmetric dual limit surfaces model that determines slip boundary conditions for both the top and support patch contacts made with the object. This model enables us to compute 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 fit the proposed model 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, demonstrating an orientation error improvement of 90% when compared to methods naive to linear path planners. For more results and information, please visit https://www.mmintlab.com/dual-limit-surfaces/.