Parcel Manipulation and Dynamics with a Distributed Actuator Array: The Virtual Vehicle

Jonathan E. Luntz, William Messner, and Howie Choset
Proceedings of the 1997 IEEE International Conference on Robotics and Automation (ICRA '97), May, 1997, pp. 1541 - 1546.


Download
  • Adobe portable document format (pdf) (383KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
We are developing a materials handling system where many small simple actuators cooperate to transport and to manipulate large objects in the plane. A discrete set of cells, each comprising two actuators, are fixed in a planar array. By coordinating the actuators in the cells on which an object rests, an object can be transported and manipulated. In essence, this system is an improvement over traditional conveyor systems in that objects can be re-oriented, as well as conveyed. Such an array provides flexible materials handling in which many objects independently can be manipulated and transported at the same time. The array is coordinated in a distributed manner where each cell has its own controller and each controller communicates with its neighbors. Towards the goal of motion planning, in this paper we consider the dynamics of parcel transport and manipulation. The parcel dynamics are based on an exact discrete representation of the system, unlike other methods where a continuity assumption is made. Two types of contact models are considered.

Notes

Text Reference
Jonathan E. Luntz, William Messner, and Howie Choset, "Parcel Manipulation and Dynamics with a Distributed Actuator Array: The Virtual Vehicle," Proceedings of the 1997 IEEE International Conference on Robotics and Automation (ICRA '97), May, 1997, pp. 1541 - 1546.

BibTeX Reference
@inproceedings{Choset_1997_1422,
   author = "Jonathan E. Luntz and William Messner and Howie Choset",
   title = "Parcel Manipulation and Dynamics with a Distributed Actuator Array: The Virtual Vehicle",
   booktitle = "Proceedings of the 1997 IEEE International Conference on Robotics and Automation (ICRA '97)",
   pages = "1541 - 1546",
   month = "May",
   year = "1997",
   volume = "2",
}