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Carnegie Mellon Robotics Institute

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Abstract

The modular distributed manipulator system (MDMS) is a macroscopic actuator array which can manipulate objects in the plane. The piecewise-constant dynamics of manipulation on the MDMS are developed based on an exact discrete representation of the system. The resulting dynamics are inverted enabling the calculation of an open-loop vectorfield which provides arbitrary uniform object dynamics. The vector field positions, and under certain assumptions, orients objects.

Notes

Associated Lab(s) / Group(s): Biorobotics

Associated Project(s): Modular Distributed Manipulator System

Text Reference

Jon Luntz, W. Messner, and Howie Choset, "Discrete Actuator Array Vectorfield Design for Distributed Manipulation," Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA '99), May, 1999, pp. 2235 - 2241.

BibTeX Reference

@inproceedings{Luntz_1999_2865,
   author = "Jon Luntz and W. Messner and Howie Choset",
   title = "Discrete Actuator Array Vectorfield Design for Distributed Manipulation",
   booktitle = "Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA '99)",
   pages = "2235 - 2241",
   month = "May",
   year = "1999",
   volume = "3",
}

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