Complex picking via entanglement of granular mechanical metamaterials

TL;DR

This paper introduces entangled granular metamaterials composed of geometrically designed grains that promote entanglement, enabling complex robotic picking tasks through stochastic interactions and structural randomness.

Contribution

It demonstrates how geometrical features of grains maximize entanglement and shows their application in robotic picking, highlighting robustness and repeatability in complex interactions.

Findings

Entangled granular metamaterials enable complex robotic picking.

Structural randomness still yields consistent interactions.

Entanglement facilitates robust manipulation of target objects.

Abstract

When objects are packed in a cluster, physical interactions are unavoidable. Such interactions emerge because of the objects geometric features; some of these features promote entanglement, while others create repulsion. When entanglement occurs, the cluster exhibits a global, complex behaviour, which arises from the stochastic interactions between objects. We hereby refer to such a cluster as an entangled granular metamaterial. We investigate the geometrical features of the objects which make up the cluster, henceforth referred to as grains, that maximise entanglement. We hypothesise that a cluster composed from grains with high propensity to tangle, will also show propensity to interact with a second cluster of tangled objects. To demonstrate this, we use the entangled granular metamaterials to perform complex robotic picking tasks, where conventional grippers struggle. We employ an electromagnet to attract the metamaterial (ferromagnetic) and drop it onto a second cluster of objects (targets, non-ferromagnetic). When the electromagnet is re-activated, the entanglement ensures that both the metamaterial and the targets are picked, with varying degrees of physical engagement that strongly depend on geometric features. Interestingly, although the metamaterials structural arrangement is random, it creates repeatable and consistent interactions with a second tangled media, enabling robust picking of the latter.