{"ID":2892612,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2507.14967","arxiv_id":"2507.14967","title":"Heterogeneous object manipulation on nonlinear soft surface through linear controller","abstract":"Manipulation surfaces indirectly control and reposition objects by actively modifying their shape or properties rather than directly gripping objects. These surfaces, equipped with dense actuator arrays, generate dynamic deformations. However, a high-density actuator array introduces considerable complexity due to increased degrees of freedom (DOF), complicating control tasks. High DOF restrict the implementation and utilization of manipulation surfaces in real-world applications as the maintenance and control of such systems exponentially increase with array/surface size. Learning-based control approaches may ease the control complexity, but they require extensive training samples and struggle to generalize for heterogeneous objects. In this study, we introduce a simple, precise and robust PID-based linear close-loop feedback control strategy for heterogeneous object manipulation on MANTA-RAY (Manipulation with Adaptive Non-rigid Textile Actuation with Reduced Actuation density). Our approach employs a geometric transformation-driven PID controller, directly mapping tilt angle control outputs(1D/2D) to actuator commands to eliminate the need for extensive black-box training. We validate the proposed method through simulations and experiments on a physical system, successfully manipulating objects with diverse geometries, weights and textures, including fragile objects like eggs and apples. The outcomes demonstrate that our approach is highly generalized and offers a practical and reliable solution for object manipulation on soft robotic manipulation, facilitating real-world implementation without prohibitive training demands.","short_abstract":"Manipulation surfaces indirectly control and reposition objects by actively modifying their shape or properties rather than directly gripping objects. These surfaces, equipped with dense actuator arrays, generate dynamic deformations. However, a high-density actuator array introduces considerable complexity due to incr...","url_abs":"https://arxiv.org/abs/2507.14967","url_pdf":"https://arxiv.org/pdf/2507.14967v1","authors":"[\"Pratik Ingle\",\"Kasper Støy\",\"Andres Faiña\"]","published":"2025-07-20T13:53:35Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}