Scalable Low-Density Distributed Manipulation Using an Interconnected Actuator Array
Fuente:
arXiv
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2026
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866917288324628480 |
|---|---|
| author | Dacre, Bailey Moreno, Rodrigo Lambertsen, Jørn Stoy, Kasper Faíña, Andrés |
| author_facet | Dacre, Bailey Moreno, Rodrigo Lambertsen, Jørn Stoy, Kasper Faíña, Andrés |
| contents | Distributed Manipulator Systems, composed of arrays of robotic actuators necessitate dense actuator arrays to effectively manipulate small objects. This paper presents a system composed of modular 3-DoF robotic tiles interconnected by a compliant surface layer, forming a continuous, controllable manipulation surface. The compliant layer permits increased actuator spacing without compromising object manipulation capabilities, significantly reducing actuator density while maintaining robust control, even for smaller objects. We characterize the coupled workspace of the array and develop a manipulation strategy capable of translating objects to arbitrary positions within an N X N array. The approach is validated experimentally using a minimal 2 X 2 prototype, demonstrating the successful manipulation of objects with varied shapes and sizes. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_19653 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Scalable Low-Density Distributed Manipulation Using an Interconnected Actuator Array Dacre, Bailey Moreno, Rodrigo Lambertsen, Jørn Stoy, Kasper Faíña, Andrés Robotics Distributed Manipulator Systems, composed of arrays of robotic actuators necessitate dense actuator arrays to effectively manipulate small objects. This paper presents a system composed of modular 3-DoF robotic tiles interconnected by a compliant surface layer, forming a continuous, controllable manipulation surface. The compliant layer permits increased actuator spacing without compromising object manipulation capabilities, significantly reducing actuator density while maintaining robust control, even for smaller objects. We characterize the coupled workspace of the array and develop a manipulation strategy capable of translating objects to arbitrary positions within an N X N array. The approach is validated experimentally using a minimal 2 X 2 prototype, demonstrating the successful manipulation of objects with varied shapes and sizes. |
| title | Scalable Low-Density Distributed Manipulation Using an Interconnected Actuator Array |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.19653 |