Robotic Manipulation Utilizing Patterned Granular Motion

A method for robotic manipulation of objects is provided wherein particulates are agitated by the transfer of energy there to establish patterned granular motion of the particulates. The patterned granular motion of the particulates forms standing waves. The objects align themselves with the standing waves and thus are dynamically arranged in a configuration established by the location of the standing waves. The location of the standing waves can be predetermined by controlling the waveform of the signals applied to the energy application system. The predetermined waveforms are supplied from the signal source to the energy application system.

Patent #: 6335059 Issue Date: January 1, 2002