CPG-Based Manipulation with Multi-Module Origami Robot Surface

TL;DR

This paper presents a novel multi-module origami robotic surface that uses a CPG-based motion generator and simulation optimization to manipulate objects of various sizes, shapes, and materials effectively.

Contribution

It introduces a new surface-based manipulation framework combining CPG control and simulation optimization for versatile object handling.

Findings

Successful manipulation of objects from centimeters to meters.

Robust handling across different shapes, weights, and materials.

Validated through simulations and prototype experiments.

Abstract

Robotic manipulators often face challenges in handling objects of different sizes and materials, limiting their effectiveness in practical applications. This issue is particularly pronounced when manipulating meter-scale objects or those with varying stiffness, as traditional gripping techniques and strategies frequently prove inadequate. In this letter, we introduce a novel surface-based multi-module robotic manipulation framework that utilizes a Central Pattern Generator (CPG)-based motion generator, combined with a simulation-based optimization method to determine the optimal manipulation parameters for a multi-module origami robotic surface (Ori-Pixel). This approach allows for the manipulation of objects ranging from centimeters to meters in size, with varying stiffness and shape. The optimized CPG parameters are tested through both dynamic simulations and a series of prototype experiments involving a wide range of objects differing in size, weight, shape, and material, demonstrating robust manipulation capabilities.