Scalable Low-Density Distributed Manipulation Using an Interconnected Actuator Array

TL;DR

This paper introduces a scalable distributed manipulation system using interconnected robotic tiles with a compliant surface, reducing actuator density while maintaining precise control for manipulating small objects.

Contribution

It presents a modular array of robotic tiles with a compliant layer, enabling dense manipulation with fewer actuators and a novel control strategy validated on a prototype.

Findings

Successful manipulation of various object shapes and sizes

Reduced actuator density without losing control robustness

Validated manipulation strategy on a 2x2 prototype

Abstract

Distributed Manipulator Systems, composed of arrays of robotic actuators necessitate dense actuator arrays to effectively manipulate small objects. This paper presents a system composed of modular 3-DoF robotic tiles interconnected by a compliant surface layer, forming a continuous, controllable manipulation surface. The compliant layer permits increased actuator spacing without compromising object manipulation capabilities, significantly reducing actuator density while maintaining robust control, even for smaller objects. We characterize the coupled workspace of the array and develop a manipulation strategy capable of translating objects to arbitrary positions within an N X N array. The approach is validated experimentally using a minimal 2 X 2 prototype, demonstrating the successful manipulation of objects with varied shapes and sizes.