Scalable Low-Density Distributed Manipulation Using an Interconnected Actuator Array

2026-02-23

AI Summary

This work proposes a continuously controllable manipulation surface composed of modular three-degree-of-freedom robotic units coupled with a flexible surface layer, addressing the complexity and high cost of conventional distributed manipulation systems that rely on dense actuator arrays for handling small objects. By leveraging the compliant layer to enable motion coordination among sparsely distributed actuators, the system maintains robust manipulation capabilities while significantly reducing actuator density. The approach supports object transport to arbitrary target positions and integrates array-level workspace modeling with path planning strategies. Experimental validation on a 2×2 prototype demonstrates successful manipulation of objects with diverse shapes and sizes, confirming the system’s effectiveness and scalability under low-density actuation configurations.

Technology Category

• Intelligent Robots: Manipulation
• Multiagent Systems: Distributed Problem Solving
• Planning, Routing, and Scheduling: Optimization of Spatio-temporal Systems

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Experiences and lessons learnt from Web-based algorithms and system deployments
• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs
• Responsible Web: Machine-in-the-loop, human agency and autonomy

Abstract

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.

Problem

• Distributed Manipulation
• Low-Density Actuator Array
• Scalable Manipulation
• Compliant Surface
• Object Manipulation

Innovation

• compliant surface layer
• low-density actuator array
• modular robotic tiles
• distributed manipulation
• 3-DoF actuation