Key points are not available for this paper at this time.
This paper is an extension to the 3-dimensional case of our previous work on planar motion with point contact 2. Here we study the so called roll-slide spatial motions. Such motions occur whenever point contact between bodies is maintained under spatial motion. We consider instantaneous time-based kinematics and assume the presence of a tactile sensor to measure the relative motion at the point of contact. It is indicated how the derived kinematic relationships can be applied to sensor based robotic path planning.
Cai et al. (2005) studied this question.