A novel boundary-integral algorithm [Staben, M.E., Zinchenko, A.Z., Davis, R.H., 2003. Motion of a particle between two parallel plane walls in low-Reynolds-number Poiseuille flow. Physics of Fluids 15, 1711-1733; Erratum: Phys. Fluids 16, 4206] is used to obtain O(1)-nonsingular terms that are combined with two-wall lubrication asymptotic terms to give resistance coefficients for near-contact or contact motion of a heavy sphere translating and rotating between two parallel plane walls in a Poiseuille flow. These resistance coefficients are used to describe the sphere's motion for two cases: a heavy sphere driven by a Poiseuille flow in a horizontal channel and a heavy sphere settling due to gravity through a quiescent fluid in an inclined channel. When the heavy sphere contacts a wall in either system, which occurs when the gap between the sphere and the wall becomes equal to the surface roughness of the sphere (or plane), a contact-force model using the two-wall resistance coefficients is employed. For a heavy sphere in a Poiseuille flow, experiments were performed using polystyrene particles with diameters 10%-60% of the channel depth, driven through a glass microchannel using a syringe pump. The measured translational velocities for these particles show good agreement with theoretical results. The predicted translational velocity increases for increasing particle diameter, as the spheres extend further into the Poiseuille flow, except for particles that are so large (diameters of 80%-85% of the channel depth) that the upper wall has a dominant influence on the particle velocity. For a heavy sphere settling in a quiescent fluid in an inclined channel, the transition from the no-slip regime to slipping motion occurs for a larger inclination angle of the channel with respect to the horizontal for an increase in particle diameter, since the larger particles are more slowed by the second wall. Limited experiments were performed for Teflon spheres with diameters 64%-95% of the channel depth settling in a very viscous fluid along the lower wall of an inclined acrylic channel. The measured translational velocities, which are only about 15%-25% of the tangential component of the undisturbed Stokes settling velocity, are in close agreement with theory using physical parameters obtained from similar experiments with a single wall [Galvin, K.P., Zhao, Y., Davis, R.H., 2001. Time-averaged hydrodynamic roughness of a noncolloidal sphere in low Reynolds number motion down an inclined plane. Physics of Fluids 13, 3108-3119]. (c) 2005 Elsevier Ltd. All rights reserved.