Programmable velocity vector fields by 6-DOF vibration

This video generalizes the idea of transporting parts using horizontal and vertical vibration shown in the previous video and illustrated in Fig. 37.9 in Chap. 37.4.3 of the Springer Handbook of Robotics, 2nd ed (2016). In this video, a rigid supporting plate is vibrated with an arbitrary periodic 6-DOF motion profile. This periodic vibration enables control of the normal forces and horizontal plate velocities as a function of the position on the plate, effectively creating programmable velocity vector fields induced by friction. This video demonstrates five such velocity fields in sequence, each created by a different periodic vibration of the plate.