Abstract
Two radically different approaches to distributed manipulation are reviewed. They each address scalability and manufacturing issues while producing forces sufficient to move macro-scale objects in different ways. The airjet system achieves scalability and manufacturability through macro-scale planar batch fabrication technology while PolyBot is modular, enabling mass production. Where PolyBot is suited to couple to non-planar objects through variable out-of-plane motion of the cilia, airjets are optimized for manipulation of planar objects with delicate surface features. The designs of both systems are well suited to hierarchical computation and communication to enable scalability without an explosion in the resource requirements.
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Yim, M., Reich, J., Berlin, A.A. (2000). Two Approaches to Distributed Manipulation. In: Böhringer, K.F., Choset, H. (eds) Distributed Manipulation. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-4545-3_12
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DOI: https://doi.org/10.1007/978-1-4615-4545-3_12
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