Information Requirements of Collision-Based Micromanipulation

We present a task-centered formal analysis of the relative power several robot designs, inspired by unique properties and constraints micro-scale robotic systems. Our task interest is object manipulation because it fundamental prerequisite for more complex applications such as assembly or cell manipulation. Motivated difficulty in observing controlling agents at micro-scale, we focus on design boundary interactions: robot’s motion strategy when collides with objects environment boundary, otherwise known bounce rule. minimal conditions sensing, memory, actuation requirements periodic “bouncing” trajectories that move an desired direction through incidental forces arising from robot-object collisions. Using information space framework hierarchical controller, compare emphasizing goal completion under different initial conditions, well what required to recognize irreparable failure. Finally, physically-motivated model interactions, analyze robustness dynamical resulting trajectories.