This work was presented at ICRA 2024, and is aimed towards creating a non-anthropomorphic vibration-based method for robotic in-hand manipulation. Vibrational transport of objects is not a new concept. In fact, many of the papers cited in our work go back decades. However, most of this transport occurred in the plane or at a slight angle to the plane (think vibratory part feeders). Our work focused on:

  1. Defining the dynamics for vertical transport, and showing why it is more difficult than its horizontal counterpart
  2. Experimentally verifying our dynamical model
  3. Building a device that can demonstrate vertical vibratory transport

Details on the theory and implementation can be found on this website.