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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2511.04246 |
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| _version_ | 1866918188396052480 |
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| author | De Witte, Sander Lefebvre, Tom Neve, Thomas Retzler, Andras Crevecoeur, Guillaume |
| author_facet | De Witte, Sander Lefebvre, Tom Neve, Thomas Retzler, Andras Crevecoeur, Guillaume |
| contents | This paper investigates the dynamic properties of planar slider-pusher systems as a motion primitive in manipulation tasks. To that end, we construct a differential kinematic model deriving from the limit surface approach under the quasi-static assumption and with negligible contact friction. The quasi-static model applies to generic slider shapes and circular pusher geometries, enabling a differential kinematic representation of the system. From this model, we analyze differential flatness - a property advantageous for control synthesis and planning - and find that slider-pusher systems with polygon sliders and circular pushers exhibit flatness with the centre of mass as a flat output. Leveraging this property, we propose two control strategies for trajectory tracking: a cascaded quasi-static feedback strategy and a dynamic feedback linearization approach. We validate these strategies through closed-loop simulations incorporating perturbed models and input noise, as well as experimental results using a physical setup with a finger-like pusher and vision-based state detection. The real-world experiments confirm the applicability of the simulation gains, highlighting the potential of the proposed methods for |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_04246 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Differential Flatness of Quasi-Static Slider-Pusher Models with Applications in Control De Witte, Sander Lefebvre, Tom Neve, Thomas Retzler, Andras Crevecoeur, Guillaume Systems and Control This paper investigates the dynamic properties of planar slider-pusher systems as a motion primitive in manipulation tasks. To that end, we construct a differential kinematic model deriving from the limit surface approach under the quasi-static assumption and with negligible contact friction. The quasi-static model applies to generic slider shapes and circular pusher geometries, enabling a differential kinematic representation of the system. From this model, we analyze differential flatness - a property advantageous for control synthesis and planning - and find that slider-pusher systems with polygon sliders and circular pushers exhibit flatness with the centre of mass as a flat output. Leveraging this property, we propose two control strategies for trajectory tracking: a cascaded quasi-static feedback strategy and a dynamic feedback linearization approach. We validate these strategies through closed-loop simulations incorporating perturbed models and input noise, as well as experimental results using a physical setup with a finger-like pusher and vision-based state detection. The real-world experiments confirm the applicability of the simulation gains, highlighting the potential of the proposed methods for |
| title | Differential Flatness of Quasi-Static Slider-Pusher Models with Applications in Control |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2511.04246 |