Linear Delta Arrays for Compliant Dexterous Distributed Manipulation

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This paper presents a new type of distributed dexterous manipulator: delta arrays.

• Our delta array setup consists of 64 linearly-actuated delta robots with 3D-printed compliant linkages.
• Through the design of the individual delta robots, the modular array structure, and distributed communication and control, we study a wide range of in-plane and out-of-plane manipulations, as well as prehensile manipulations among subsets of neighboring delta robots.
• We also demonstrate dexterous manipulation capabilities of the delta array using reinforcement learning while leveraging the compliance to not break the end-effectors.