/Open Loop Orientability of Objects on Actuator Arrays

Open Loop Orientability of Objects on Actuator Arrays

Jon Luntz, W. Messner and Howie Choset
Conference Paper, Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA '99), Vol. 3, pp. 2242 - 2248, May, 1999

Download Publication (PDF)

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

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.

BibTeX Reference
@conference{Luntz-1999-14904,
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)},
year = {1999},
month = {May},
volume = {3},
pages = {2242 - 2248},
}
2017-09-13T10:48:56+00:00