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Planar sliding of objects is modeled and analyzed. The model can be used fornon-prehensile manipulation of objects lying on a surface. We study possiblemotions generated by frictional contacts, such as those arising between a softfinger and a flat object on a table. Specifically, using a quasi-staticanalysis we are able to derive a hybrid dynamical system to predict the motionof the object. The model can be used to find fixed-points of the system and thepath taken by the object to reach such configurations. Important informationfor planning, such as the conditions in which the object sticks to the frictionpatch, pivots, or completely slides against it are obtained. Experimentalresults confirm the validity of the model for a wide range of applications.

Quasi-static Analysis of Planar Sliding Using Friction Patches