# Linear Delta Arrays for Compliant Dexterous Distributed Manipulation

arXiv: https://arxiv.org/abs/2206.04596 · HTML: https://mlsanity.com/paper/2206.04596/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 9 Jun 2022.

## Built on by (most cited first, 2 of 2)

- [Neural Cellular Automata for Decentralized Sensing using a Soft Inductive Sensor Array for Distributed Manipulator Systems](https://mlsanity.com/paper/2502.01242/) (2025)
- [Distributed Dexterous Manipulation with Spatially Conditioned Multi-Agent Transformers](https://mlsanity.com/paper/2609.06930/) (2026)

## Abstract (arXiv)

This paper presents a new type of distributed dexterous manipulator: delta arrays. Our delta array setup consists of 64 linearly-actuated delta robots with 3D-printed compliant linkages. Through the design of the individual delta robots, the modular array structure, and distributed communication and control, we study a wide range of in-plane and out-of-plane manipulations, as well as prehensile manipulations among subsets of neighboring delta robots. We also demonstrate dexterous manipulation capabilities of the delta array using reinforcement learning while leveraging the compliance to not break the end-effectors. Our evaluations show that the resulting 192 DoF compliant robot is capable of performing various coordinated distributed manipulations of a variety of objects, including translation, alignment, prehensile squeezing, lifting, and grasping.