Actuator arrays are planar arrangements of two degree-of-freedom actuators that cooperatively translate and orient objects for efficient manipulation.

This paper describes design and control of a prototype actuator array, the advanced distributed manipulation system (ADMS), which uses vision feedback from ...

An actuator array is a form of distributed manipulation where an object being transported and manipulated rests on a large number of stationary supporting ...

This paper determines the ranges of parameters for which all wheels are in either sliding contact or rolling contact. Simulations are performed to demonstrate ...

Inproceedings,. Distributed manipulation with stick-slip contact. M. Bedillion, and W. Messner.

This work focuses on a stick-slip friction model and its impact on the dynamics of an object on the array. Factors such as coefficient of friction and object ...

Distributed manipulation systems induce motions on objects through the application of many external forces. An actuator array performs.

The key concept of the stick-slip model is to control the amount of contact frictional force transmitted to the object. This was implemented mechanically by ...

The stick–slip friction phenomenon is analyzed by establishing analytical criteria that predict the transition between stick, slip, and separation of the ...

Abstract—This paper introduces feedback control meth- ods for distributed manipulation systems that move objects via rolling and slipping point contacts.