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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.
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Table of contents (12 chapters)
Editors and Affiliations
Bibliographic Information
Book Title: Distributed Manipulation
Editors: Karl F. Böhringer, Howie Choset
DOI: https://doi.org/10.1007/978-1-4615-4545-3
Publisher: Springer New York, NY
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eBook Packages: Springer Book Archive
Copyright Information: Springer Science+Business Media New York 2000
Hardcover ISBN: 978-0-7923-7728-3Published: 31 January 2000
Softcover ISBN: 978-1-4613-7051-2Published: 13 July 2013
eBook ISBN: 978-1-4615-4545-3Published: 06 December 2012
Edition Number: 1
Number of Pages: VIII, 261
Topics: Robotics and Automation, Electrical Engineering, Control, Robotics, Mechatronics, Mechanical Engineering, Artificial Intelligence