Swanson, P. JBurridge, Robert RKoditschek, Daniel E2023-05-222023-05-2219952008-04-10https://repository.upenn.edu/handle/20.500.14332/33549In this paper we demonstrate that a passive vibration strategy can bring a one-degree-of-freedom ball to a specified periodic trajectory from all initial conditions. We draw motivation from the problem of parts feeding in sensorless assembly. We provide simulation results suggesting the relevance of our analysis to the parts feeding problem.GRASPKodlabfactory automationroboticschaotic dynamicsparts feedingparts feedersvibrationArticle