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Carnegie Mellon Robotics Institute

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Abstract

An actuator array is a form of distributed manipulation where an object being transported and manipulated rests on a large number of supporting actuators. On a discrete array employing an open-loop field, some size and shape objects may have unstable equilibria due to this discreteness. The functional relationship between object dimensions relative to array spacing and rotational stability is examined, and a map of this function is generated. The geometry behind this relationship is also examined, and analytical expressions for the boundaries between stable and unstable regions in the map are derived.

Notes

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

Associated Project(s): Modular Distributed Manipulator System

Text Reference

Jon Luntz, W. Messner, and Howie Choset, "Open Loop Orientability of Objects on Actuator Arrays," Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA '99), May, 1999, pp. 2242 - 2248.

BibTeX Reference

@inproceedings{Luntz_1999_2866,
   author = "Jon Luntz and W. Messner and Howie Choset",
   title = "Open Loop Orientability of Objects on Actuator Arrays",
   booktitle = "Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA '99)",
   pages = "2242 - 2248",
   month = "May",
   year = "1999",
   volume = "3",
}

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