Abstract
This paper deals with a novel manipulating scheme for a passive object using an active plate. In this context, a tumble doll is defined as the object. Then, the object and active plate's motions are designed to be cyclic. A state vector composed of the object angle and angular velocity is defined, and the cyclic motion is expressed as a nonlinear discrete system. Fixed points of the state vector are searched for in the designed cyclic motion. Stability analysis around the fixed points is conducted using Poincare map. Finally, the experimental results verify that the object's angle can be manipulated with the designed cyclic motion using the plate.
