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Distributed Manipulation

  • Book
  • © 2000

Overview

Editors:
  1. Karl F. Böhringer

    1. University of Washington, Seattle, USA

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  2. Howie Choset

    1. Carnegie Mellon University, USA

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Table of contents (12 chapters)

  1. Front Matter

    Pages i-viii
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  2. A Distributed, Universal Device For Planar Parts Feeding: Unique Part Orientation in Programmable Force Fields

    • Karl F. Böhringer, Bruce R. Donald, Lydia E. Kavraki, Florent Lamiraux
    Pages 1-28

  3. Experiments in Constrained Prehensile Manipulation: Distributed Manipulation With Ropes

    • Bruce Randall Donald, Larry Gariepy, Daniela Rus
    Pages 29-47

  4. Simultaneous Planar Transport of Multiple Objects on Individual Trajectories Using Friction Forces

    • Peter U. Frei, Markus Wiesendanger, Roland Büchi, Lorenz Ruf
    Pages 49-64

  5. Hybrid Approach of Centralized Control and Distributed Control For Flexible Transfer System

    • Toshio Fukuda, Isao Takagawa, Kosuke Sekiyama, Yasuhisa Hasegawa
    Pages 65-85

  6. Autonomous Distributed System For Cooperative Micromanipulation

    • Satoshi Konishi, Yoshio Mita, Hiroyuki Fujita
    Pages 87-102

  7. Discreteness Issues in Actuator Arrays

    • Jonathan E. Luntz, William Messner, Howie Choset
    Pages 103-126

  8. Design and Simulation of a Miniature Mobile Parts Feeder

    • Arthur E. Quaid, Ralph L. Hollis
    Pages 127-146

  9. Building a Universal Planar Manipulator

    • Dan Reznik, Emil Moshkovich, John Canny
    Pages 147-171

  10. Distributed Agent Programming in the Architecture For Agile Assembly

    • Alfred A. Rizzi, Jay Gowdy
    Pages 173-189

  11. CMOS Integrated Organic Ciliary Actuator Arrays For General-Purpose Micromanipulation Tasks

    • John W. Suh, R. Bruce Darling, Karl F. Böhringer, Bruce R. Donald, Henry Baltes, Gregory T. A. Kovacs
    Pages 191-215

  12. Distributed Actuation Devices Using Soft Gel Actuators

    • Satoshi Tadokoro, Satoshi Fuji, Toshi Takamori, Keisuke Oguro
    Pages 217-235

  13. Two Approaches to Distributed Manipulation

    • Mark Yim, Jim Reich, Andrew A. Berlin
    Pages 237-261
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Keywords

About this book

Distributed manipulation effects motion on objects through a large number of points of contact. The primary benefit of distributed manipulators is that many small inexpensive mechanisms can move and transport large heavy objects. In fact, each individual component is simple, but their combined effect is quite powerful. Furthermore, distributed manipulators are fault-tolerant because if one component breaks, the other components can compensate for the failure and the whole system can still perform its task. Finally, distributed manipulators can perform a variety of tasks in parallel.
Distributed manipulation can be performed by many types of mechanisms at different scales. Due to the recent advances of MEMS (micro-electro-mechanical system) technology, it has become feasible to quickly manufacture distributed micro-manipulators at low cost. One such system is an actuator array where hundreds of micro-scaled actuators transport and manipulate small objects that rest on them. Macroscopic versions of the actuator array have also been developed and analyzed. Another form of distributed manipulation is derived from a vibrating plate, and teams of mobile robots have been used to herd large objects into desired locations.
There are many fundamental issues involved in distributed manipulation. Since a distributed manipulator has many actuators, distributed control strategies must be considered to effectively manipulate objects. A basic understanding of contact analysis between the actuators and object must also be considered. When each actuator in the array has a sensor, distributed sensing presents some basic research challenges. Distributed computation and communication are key issues to enable the successful deployment of distributed manipulators into use. Finally, the trade-off in centralized and de-centralized approaches in all of these algorithms must be investigated.

Editors and Affiliations

  • University of Washington, Seattle, USA

    Karl F. Böhringer

  • Carnegie Mellon University, USA

    Howie Choset

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