  In this paper, we discuss the mechanics and planning algorithms to slide an
object on a horizontal planar surface via frictional patch contact made with
its top surface. Here, we propose an asymmetric dual limit surface model to
determine slip boundary conditions for both the top and bottom contact. With
this model, we obtain a range of twists that can keep the object in sticking
contact with the robot end-effector while slipping on the supporting plane.
Based on these constraints, we derive a planning algorithm to slide objects
with only top contact to arbitrary goal poses without slippage between end
effector and the object. We validate the proposed model empirically and
demonstrate its predictive accuracy on a variety of object geometries and
motions. We also evaluate the planning algorithm over a variety of objects and
goals demonstrate an orientation error improvement of 90\% when compared to
methods naive to linear path planners.
