Dynamic model for high-speed pushing as a manipulator operation

In a planar pushing operation, particularly at higher pushing velocities, the object´s inertia can not be ignored. This paper so determines dynamics aspect of the pushing mechanics for the case of four-points of support. If the object´s inertia is neglected in the case of high-speed pushing, the object translates along the pushing line. However, when the object´s inertia is considered, there is a tendency for the object to rotate.