A system and apparatus for robotic manipulation of objects is provided wherein particulates are agitated by the transfer of energy there to establish patterned granular motion of the particulates, which then form standing waves. The objects align themselves the standing waves and thus are dynamically arranged in a configuration established by the location of the standing waves. The location of the standing waves can be predetermined by controlling the waveform of the signals applied to the energy application system. The predetermined waveforms are suppllied from the signal source to the energy application system.
Patent Number: 6,216,631
Date Issued: April 17 2001