Dynamic nonprehensile shaping of a deformable object by using its gait-like behaviors

This paper discusses a dynamic nonprehensile manipulation of a deformable object, where the shape of a thin object is dynamically controlled by the plate´s rapid motion. After explaining the manipulation principle, we introduce a simplified analytical model where an object is modeled by two mass points and the plate has two degrees of freedom: a translational motion and a rotational one. After categorizing jump patterns of the mass point with considering the plate´s acceleration, we show that gait-like behaviors of the object are generated on the periodic plate´s motion. Through simulation analysis, we show the deformation velocity transition of the object with respect to the amplitude of plate´s acceleration. We reveal that the transition is characterized by particular amplitudes which govern the jump patterns of the mass point. We make clear that the optimum plate´s motion leading to the maximal deformation velocity exists on one of such particular amplitudes.