Movie Gallery

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MASS Chip 1 movies

Caltech experimental set-up

Moving flaps

Centering Chip

Chip carried by flaps

MASS Chip 4 movies

Moving flaps

Gate inversion

Chip carried by flaps

Application-level CAD movies

Static Force Fields

Centering parts until stable

Spiraling part to center: fast convergence

Spiraling part to center: slow convergence

Spiraling part to center: weak force field

Spiraling part away from center

Rotating part around the center

Symmetrical parts assembly

Fuzzy titration that never clogs

Sequence of Static Force Fields

Moving parts between work cells

Sorting parts using a hole

Positioning and orienting parts

Pipeline design

Translating and rotating parts

Controlling and selecting parts in an assembly line

Dynamic Force Fields

Moving along a straight line path

Moving along a B-spline path

Use of Hardware Tools

Parallel-jaw gripper

T-shaped gripper

Four bladed gripper