{"paper":{"title":"Quasi-static Analysis of Planar Sliding Using Friction Patches","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Domenico Prattichizzo, Joao Bimbo, M. Mahdi Ghazaei Ardakani","submitted_at":"2019-04-14T11:14:07Z","abstract_excerpt":"Planar sliding of objects is modeled and analyzed. The model can be used for non-prehensile manipulation of objects lying on a surface. We study possible motions generated by frictional contacts, such as those arising between a soft finger and a flat object on a table. Specifically, using a quasi-static analysis we are able to derive a hybrid dynamical system to predict the motion of the object. The model can be used to find fixed-points of the system and the path taken by the object to reach such configurations. Important information for planning, such as the conditions in which the object st"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.06677","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}