A binary paradigm for robotic manipulators

Traditionally, kinematics and motion planning paradigms have addressed robots with continuous range-of-motion actuators (e.g. motors, hydraulic cylinders, etc.). Unlike motors, binary actuators have only two discrete states, both of which are stable. As a result, binary manipulators (i.e. those which are actuated with binary actuators) have a finite number of states. Major benefits of binary actuation are that extensive feedback control is not required, task repeatability can be very high, and two-state actuators are generally very inexpensive (e.g. solenoids, pneumatic cylinders, etc.), thus resulting in low cost robots. This paper presents a new paradigm in robotics based on binary actuation, and develops algorithms for the optimal design of binary manipulators for pick-and-place tasks