Coordinated Particle Relocation Using Finite Static Friction With Boundary Walls
| Autor: | Victor M. Baez, Arne Schmidt, Sándor P. Fekete, Aaron T. Becker |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Work (thermodynamics) Control and Optimization Computer science Mechanical Engineering Biomedical Engineering Boundary (topology) Control reconfiguration 0102 computer and information sciences 02 engineering and technology Workspace Global symmetry Topology 01 natural sciences Computer Science Applications Human-Computer Interaction Range (mathematics) 020901 industrial engineering & automation 010201 computation theory & mathematics Artificial Intelligence Control and Systems Engineering Particle Computer Vision and Pattern Recognition |
| Zdroj: | IEEE Robotics and Automation Letters. 5:985-992 |
| ISSN: | 2377-3774 |
| DOI: | 10.1109/lra.2020.2967275 |
| Popis: | We present theoretical and practical methods for achieving arbitrary reconfiguration of a set of objects, based on the use of external forces, such as a magnetic field or gravity: Upon actuation, each object is pushed in the same direction until it collides with an obstruction. This concept can be used for a wide range of applications in which particles do not have their own energy supply. A crucial challenge for achieving any desired target configuration is breaking global symmetry in a controlled fashion. Previous work made use of specifically placed barriers; however, introducing precisely located obstacles into the workspace is impractical for many scenarios. In this letter, we present a different, less intrusive method: making use of the interplay between static friction with a boundary and the external force to achieve arbitrary reconfiguration . Our key contributions are a precise theoretical characterization of the critical coefficient of friction that is sufficient for rearranging two particles in triangles, convex polygons, and regular polygons; a method for reconfiguring multiple particles in rectangular workspaces, and deriving practical algorithms for these rearrangements. Hardware experiments show the efficacy of these procedures, demonstrating the usefulness of this novel approach. |
| Databáze: | OpenAIRE |
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