By clarifying the effect of surface conductivity and adhesivity on the electrostatic manipulation condition, a dielectric particle made of any material can be manipulated with surface conductivity. The manipulation system consists of three elements: a conductive probe as a manipulator, a conductive plate as a substrate, and a dielectric particle as the target object for manipulation. The particle can be successfully picked up/placed if a rectangular pulse voltage is applied between the probe and the plate. Four kinds of particle materials are used in the experiment: silica, soda-lime glass, polymethyl methacrylate coated by conductive polymer, and polystyrene coated by surfactant. The radius of each particle is 15 μm. A first-order resistor-capacitor (RC) circuit model is adopted to describe the effect of surface conductivity and adhesivity on the manipulation condition. The manipulation system is modeled as a series circuit consisting of a resistor and a capacitor by considering the surface conductivity. A detachment voltage is defined as the capacitance voltage to detach the particle adhered to the plate or probe. Parameters of the RC model, surface resistance, surface capacitance and detachment voltage are identified by a simulation and measurements.To verify the RC model, the particle's behavior is observed by a high-speed camera, and the electrical current is measured by an electrometer. A manipulation experiment is demonstrated to show the effectiveness of the model. The particle reaction is observed for each duration and magnitude of the pulse voltage for the manipulation. The optimum pulse voltage for successful manipulation is determined by the parameters of the RC model as the standard. This knowledge is expected to expand the possibility of micro-fabrication technology.