Given a controllable moving surface, and a part that is to be transported, the operating principle is relatively simple and identical to a strategy used in horizontal vibratory transport called the Quaid Waveform (Quaid 1999) . First, the part is transported upwards against gravity by sticking to the moving surface; both the surface and part accelerate while staying within the friction cone. Next, the moving surface quickly accelerates downward in order to exit the friction cone and slip relative to the part, catching the part at a lower position. This sticking-slipping cycle repeats to have net motion of the part upwards, as shown in the below graphic. Note that in the demo video only transport against gravity is shown, as this is the most difficult case for vibratory transport as described here.

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