Papers › CPG-Based Manipulation with Multi-Module Origami Robot Surface
CPG-Based Manipulation with Multi-Module Origami Robot Surface
Yuhao Jiang, Serge El Asmar, Ziqiao Wang, Serhat Demirtas, Jamie Paik
The archive published only this paper's code-link row. Authors, date and abstract are from arXiv's metadata (CC0), read from the Kaggle arXiv metadata snapshot of 2026-09-12 where its title matched the archive's; the title is the archive's.
Robotic manipulators often face challenges in handling objects of different sizes and materials, limiting their effectiveness in practical applications. This issue is particularly pronounced when manipulating meter-scale objects or those with varying stiffness, as traditional gripping techniques and strategies frequently prove inadequate. In this letter, we introduce a novel surface-based multi-module robotic manipulation framework that utilizes a Central Pattern Generator (CPG)-based motion generator, combined with a simulation-based optimization method to determine the optimal manipulation parameters for a multi-module origami robotic surface (Ori-Pixel). This approach allows for the manipulation of objects ranging from centimeters to meters in size, with varying stiffness and shape. The optimized CPG parameters are tested through both dynamic simulations and a series of prototype experiments involving a wide range of objects differing in size, weight, shape, and material, demonstrating robust manipulation capabilities.
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Results from the paper archive 2025-07-28
No leaderboard rows for this paper in the archive.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections