PROJECT TITLE :

Optimal, Efficient Sequential Control of a Soft-Bodied, Peristaltic Sorting Table

ABSTRACT:

A peristaltic, soft-bodied xy-sorting table manipulates objects by producing moving wave shapes on its surface. The waves exert forces on the objects which can be used for transportation, reorientation, and local repositioning. The control of such peristaltic robots is mostly unsolved, because important properties of the kinematics, dynamics, and impact of actuation are unknown. Fundamental and sensible limitations in measuring the system state result in numerical difficulties in the form of discontinuous signals in non-Euclidean areas.


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