Nonprehensile Dynamic Shaping of a Sheet-like Rheological Object

Abstract

This paper discusses a nonprehensile dynamic manipulation of a deformable object, where the shape of a sheet-like rheological object is dynamically controlled by the combination of the inertial force and the frictional one generated by the plate's rapid motion. We first introduce a linear viscous model for approximating the object deformation characteristics, focusing on the final shape of the object. Assuming that the plate has two degrees of freedom: a translational motion and a rotational motion, we derive two sufficient conditions to deform the object: one to enlarge it and the other to contract it. Then, we show the cyclic plate motion leading to the continuous object's deformation, and finally simulation and experimental results are shown in order to verify the proposed method.