Leaving on a plane jet
Reznik, D.S.; Canny, J.F.; Alldrin, N.
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Volume 1, Issue , 2001 Page(s):202 - 207 vol.1
Digital Object Identifier 10.1109/IROS.2001.973359
Summary:This is a continuation of our research on the Universal Planar
Manipulator (UPM), a device capable of manipulating multiple generic
objects with a single horizontally-vibrating, rigid plate (3 DOFs).
Objects are propelled by sliding frictional forces developed against the
vibrating plate. A special plate vibration creates an average force
field called the "jet" which is local, i.e., it is only non-zero near
its center. By applying jets at different objects' locations in
succession, objects can be made to displace a small amount individually,
enabling full parallel manipulation. In particular, a single object can
leave on a plane jet, if the jet's center is made to track and its
direction made aligned with that object's motion. We provide
visualization of the jet with respect to changes in its center,
orientation, and focus parameters. Described also are two experiments
showing the UPM as a tangible-user interface (docking a beer can to the
user's hand) and as a chess player (executing moves of an endgame)
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