Abstract
This paper discusses a dynamic manipulation for a disk-like object on a single gripper plate, where both the position and the orientation of object are dynamically controlled. The main driving force for manipulating the object is produced by the combination of inertial and frictional forces. We first explain how to control the object for the desired position and orientation. We then show an experimental result for confirming the basic idea, where we utilize a high-speed single gripper manipulator with the assistance of a high-speed vision.
