Mechanics, Planning, and Control for Tapping
W. H. Huang and M. T. Mason


We have been studying manipulation using impulsive forces; in particular, we have focused on the manipulation of planar sliders by tapping. These objects then slide on a support surface, slowing down and coming to rest due to frictional forces. In this paper, we present analytical and experimental results in the mechanics, planning, and control of this system.