CPG-Based Manipulation with Multi-Module Origami Robot Surface
Fuente:
arXiv
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| Autores principales: | , , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866913782727442432 |
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| author | Jiang, Yuhao Asmar, Serge El Wang, Ziqiao Demirtas, Serhat Paik, Jamie |
| author_facet | Jiang, Yuhao Asmar, Serge El Wang, Ziqiao Demirtas, Serhat Paik, Jamie |
| contents | Robotic manipulators often face challenges in handling objects of different sizes and materials, limiting their effectiveness in practical applications. This issue is particularly pronounced when manipulating meter-scale objects or those with varying stiffness, as traditional gripping techniques and strategies frequently prove inadequate. In this letter, we introduce a novel surface-based multi-module robotic manipulation framework that utilizes a Central Pattern Generator (CPG)-based motion generator, combined with a simulation-based optimization method to determine the optimal manipulation parameters for a multi-module origami robotic surface (Ori-Pixel). This approach allows for the manipulation of objects ranging from centimeters to meters in size, with varying stiffness and shape. The optimized CPG parameters are tested through both dynamic simulations and a series of prototype experiments involving a wide range of objects differing in size, weight, shape, and material, demonstrating robust manipulation capabilities. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2502_19218 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | CPG-Based Manipulation with Multi-Module Origami Robot Surface Jiang, Yuhao Asmar, Serge El Wang, Ziqiao Demirtas, Serhat Paik, Jamie Robotics Systems and Control Robotic manipulators often face challenges in handling objects of different sizes and materials, limiting their effectiveness in practical applications. This issue is particularly pronounced when manipulating meter-scale objects or those with varying stiffness, as traditional gripping techniques and strategies frequently prove inadequate. In this letter, we introduce a novel surface-based multi-module robotic manipulation framework that utilizes a Central Pattern Generator (CPG)-based motion generator, combined with a simulation-based optimization method to determine the optimal manipulation parameters for a multi-module origami robotic surface (Ori-Pixel). This approach allows for the manipulation of objects ranging from centimeters to meters in size, with varying stiffness and shape. The optimized CPG parameters are tested through both dynamic simulations and a series of prototype experiments involving a wide range of objects differing in size, weight, shape, and material, demonstrating robust manipulation capabilities. |
| title | CPG-Based Manipulation with Multi-Module Origami Robot Surface |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2502.19218 |