Rolling based manipulation under neighborhood equilibrium

This paper discusses the manipulation of an object under neighborhood equilibrium (NE), where an object with rolling contact can automatically find another equilibrium state close to the original one even when the current one is broken due the change of input. For a guaranteeing NE, we newly define the contact stable region (CSR) on the object surface. By utilizing the CSR, we propose a control scheme for manipulating an object from one spot to the desired position on a plate whose posture is controllable. Numerical example is also shown to explain our idea.