Friction-Induced Velocity Fields for Point Parts Sliding on a Rigid Oscillated Plate

Vose, Thomas H.; Umbanhowar, Paul B.; Lynch, Kevin

doi:10.15607/rss.2008.iv.029

Cited by 19 publications

(30 citation statements)

References 8 publications

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“…Sensorless manipulation strategies also may take advantage of limit cycle behavior, for example engineering fixed points and basins of attraction so that parts only exit a feeder when they reach the correct orientation [19], [20]. These two strategies have been applied to a much wider array of mechanisms such as vibratory bowls and tables [21], [22] or assembly lines [18], [23], [24], and have also been extended to situations with stochastic uncertainty [25], [26] and closedloop feedback [27], [28]. Our interest in this particular collection of work also stems from our belief that ensemble control theory may provide new insight into sensorless manipulation of large numbers of objects at once.…”

Section: B Motion Planning Under Uncertaintymentioning

confidence: 99%

Motion planning under bounded uncertainty using ensemble control

Becker¹

2010

Robotics: Science and Systems VI

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Abstract-This paper considers the problem of motion planning for a nonholonomic unicycle despite uncertainty that scales both the forward speed and the turning rate by an unknown but bounded constant. We model the unicycle as an ensemble control system, show that the position of this ensemble is controllable, and derive motion planning algorithms to steer this position between a given start and goal. We apply our work to a differential-drive robot with unknown but bounded wheel radius, and validate our approach with hardware experiments.

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Section: B Motion Planning Under Uncertaintymentioning

confidence: 99%

Motion planning under bounded uncertainty using ensemble control

Becker¹

2010

Robotics: Science and Systems VI

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“…Those fields allow us to control the motion of multiple objects independently and simultaneously for a wide range of objects where the properties of individual objects may or may not be the same. Despite its remarkable ability, our hardware is the simplest among all acoustic manipulation systems [1], [4], [20]- [23].…”

Section: Introductionmentioning

confidence: 99%

Multi-particle acoustic manipulation on a Chladni plate

Latifi

Wijaya

Zhou

2017

2017 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)

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Abstract-Controlling the motion of multiple miniature objects independently and simultaneously is a grand challenge in microrobotics. In this paper, we report our recent achievements in acoustic manipulation that can control the motion of multiple objects simultaneously and independently on a centrally actuated vibrating plate. By employing spatially highly nonlinear excitation fields on the plate, we can control the motion of multiple objects with relaxed properties. The paper reports the modelling of the excitation fields, open-loop control based on pre-calculated control sequence, and closed loop control using model predictive control (MPC) and linear programming methods. The experimental results show that with appropriate planning, object motion on vibrating plate is sufficiently predictable to be controlled even in open-loop. The experimental results with closed-loop control show that the methods allow various applications including trajectory following, particle assembling, and droplet merging. Despite the reported method is based on acoustic manipulation on a Chladni plate, the method can be extended to other energy fields as soon as they are spatially highly nonlinear and such nonlinearity can be excited.

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“…Rhythmic motion control has been an important research topic studied for many years in robotics and mechatronics [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18]. Legged locomotion is one type of rhythmic motion that requires cyclic stability.…”

Section: Introductionmentioning

confidence: 99%

“…Some research groups have proposed nongrasping manipulation schemes using an active plate, which also require cyclic stability [9][10][11][12][13][14][15][16][17]. Senforless positioning and orientation adjustment have been realized using a flexible vibrating plate [9].…”

Section: Introductionmentioning

confidence: 99%

Position and inclination control of a passive disk based on cyclic motion generation

Aoyama

Takaki

et al. 2017

Robomech J

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We propose a position and inclination controlling method for a passive object using an active plate. Previously, we proposed a novel manipulation scheme that can control a passive object's orientation using an active plate. In the work, stable plate cyclic motion is designed and inclination control of the object is realized. However, the object's position is not considered, so there is a possibility that the object could move. Using our plate trajectory design we can control not only the passive object's inclination but also its position. We verify that the designed plate motion can control both the object's inclination and its position through dynamics simulation. A stability analysis around a fixed point is conducted using a Poincaré return map, demonstrating that fixed points are asymptotically stable.

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Friction-Induced Velocity Fields for Point Parts Sliding on a Rigid Oscillated Plate

Cited by 19 publications

References 8 publications

Motion planning under bounded uncertainty using ensemble control

Motion planning under bounded uncertainty using ensemble control

Multi-particle acoustic manipulation on a Chladni plate

Position and inclination control of a passive disk based on cyclic motion generation

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