Coordinated Particle Relocation Using Finite Static Friction With Boundary Walls

Reducing Uncertainty Using Placement and Regrasp Planning on a Triangular Corner Fixture

“…Maeda et al [20] and Varkonyi et al [21] developed caging-based methods to achieve in-hand manipulation and parts feeding, respectively. Erdmann et al [22] and Schmidt et al [23] used the active actions of palms and boundary walls to manipulate objects. Berretty et al [24] and Akella et al [24] studied the usage of passive settings like fences.…”

Modeling, analysis and control of robot–object nonsmooth underactuated Lagrangian systems: A tutorial overview and perspectives

“…When several beads are inside the box, one obtains a system of swarm reconfiguration [153], which is a variant of the juggler with many balls in Fig. 3 (a) (this paves the way towards granular matter control).…”

“…The above juggling systems, which have a 2-dimensional operating space, can be upgraded to sophisticated tasks in 3-dimensional space, incorporating complex patterns [160], juggling with sticks [10,11]. Another extension, which can be seen as a complexification of all the above systems, is the manipulation of granular matter [161,153], two simple examples of which are in Fig. 3 (a) and Fig.…”

“…However as alluded to at several places in this article, complex tasks mix different objectives and more sophisticated criteria may be needed. Systems with high DoF objects (like granular matter) may require new controllability notions, relating to the global motion of the granular [153]. For instance one goal may be to control the center of mass of the object, using impacts and friction of the robot with some particles.…”

Coordinating Swarms of Objects at Extreme Dimensions

“…The results of this section highlight a broad spectrum of joint work with Victor Baez, Aaron Becker, Erik Demaine, Golnaz Habibi, Li Huang, Phillip Keldenich, Linda Kleist, Dominik Krupke, Jarrett Lonsford, Arun Mahadev, Sheryl Manzoor, James McLurkin, Rose Morris-Wright, Hamed Mohtasham Shad, Christian Rieck, Christian Scheffer, and Arne Schmidt; see [3,4,[6][7][8]10,20,23,24,26,27] for further details. The shown video [2] is available at https://www.…”