Dynamic Self-Righting of Planar-Based Objects on Dual Supports and its Implications for Robotic Object Placement

This study investigates the dynamic self-righting behavior of planar-based rigid objects supported at two contact points under the influence of gravity. The underlying mechanism of self-righting is elucidated through a six-dimensional curvature analysis in the configuration space. In addition, we discuss the robustness of the resulting stability properties and introduce a simulation approach to model their emergence. This stability theory is then applied to a common robotic manipulation scenario: palm-to-surface transfers, in which a robot places objects resting on its palm onto an external surface. A series of experiments validate the effectiveness of the self-righting-induced dynamic stability in performing these manipulation tasks.