Surface based manipulation
Traditional manipulators need priori information about their targets, such as shape and stiffness, to perform accurate control when dealing with delicate objects. Yet, it is a real challenge to obtain this information safely by probing fragile items. Imagine how hard it is to know the stiffness of a piece of pudding in advance. We present a general-purpose, reconfigurable, modular surface based on origami robotics for manipulating delicate objects, no matter their shape! A reconfigurable surface with two modules, each having 3-DOF, demonstrates manipulation tasks by flipping, rotating, and translating a “fish”. Our reconfigurable surface can handle items challenging for their irregular shape and texture.
Related Publications
Ziqiao Wang, Serhat Demirtas, Fabio Zuliani, Jamie Paik,"Surface-Based Object Manipulation", Under prep, Oct. 2024.
Funding
MOZART: This work is supported by the European Union’s Horizon Europe Research and Innovation Programme under Grant No. 101069536.
