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Reshaping Particle Configurations by Collisions with Rigid Objects

Shiva Shahrokhi,Haoran Zhao,Aaron T. Becker

Published 2019 in IEEE International Conference on Robotics and Automation

ABSTRACT

Consider many particles actuated by a uniform global external field (e.g. gravitational or magnetic fields). This paper presents analytical results using workspace obstacles and global inputs to reshape such a group of particles. Shape control of many particles is necessary for conveying information, construction, and navigation. First we show how the particles’ characteristic angle of repose can be used to reshape the particles by controlling angle of attack and the magnitude of the driving force. These can then be used to control the force and torque applied to a rectangular rigid body. Next, we examine the full set of stable, achievable mean and variance configurations for the shape of a particle group in two canonical environments: a square and a circular workspace. Finally, we show how workspaces with linear boundary layers can be used to achieve a more rich set of mean and variance configurations.

PUBLICATION RECORD

  • Publication year

    2019

  • Venue

    IEEE International Conference on Robotics and Automation

  • Publication date

    2019-05-01

  • Fields of study

    Physics, Computer Science, Engineering

  • Identifiers
    DOI 10.1109/ICRA.2019.8794405
  • External record

    Open on Semantic Scholar

  • Source metadata

    Semantic Scholar

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CONCEPTS

  • No concepts are published for this paper.

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