Information Requirements of Collision-Based Micromanipulation

TL;DR

This paper analyzes the information requirements and control strategies for collision-based micromanipulation robots, focusing on boundary interactions and bounce rules to achieve object movement at micro-scales.

Contribution

It introduces a formal framework for understanding the sensing, memory, and actuation needs of collision-based microrobots and compares different designs using an information space approach.

Findings

Minimal conditions for boundary interactions to move objects effectively.

Hierarchical control strategies improve goal achievement.

Analysis of robustness and trajectory dynamics in micro-scale manipulation.

Abstract

We present a task-centered formal analysis of the relative power of several robot designs, inspired by the unique properties and constraints of micro-scale robotic systems. Our task of interest is object manipulation because it is a fundamental prerequisite for more complex applications such as micro-scale assembly or cell manipulation. Motivated by the difficulty in observing and controlling agents at the micro-scale, we focus on the design of boundary interactions: the robot's motion strategy when it collides with objects or the environment boundary, otherwise known as a bounce rule. We present minimal conditions on the sensing, memory, and actuation requirements of periodic ``bouncing'' robot trajectories that move an object in a desired direction through the incidental forces arising from robot-object collisions. Using an information space framework and a hierarchical controller, we compare several robot designs, emphasizing the information requirements of goal completion under different initial conditions, as well as what is required to recognize irreparable task failure. Finally, we present a physically-motivated model of boundary interactions, and analyze the robustness and dynamical properties of resulting trajectories.