# Tidying Tasks for Robot Vacuums via Geometry-Induced Self-Locking Deployable Linkage

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/ikqr8ag8qgj3xub6j4yspl3zq
- Original: https://arxiv.org/abs/2610.20150

## Summary

The study proposes a two-stage deployable linkage that self-locks through its own geometry and is integrated into a commercial robot vacuum to support pushing-type tidying tasks. The mechanism uses a single actuator to deploy and lock, a passive trigger to release the lock for retraction, and a second actuator to adjust deployment height only; at full deployment, an internal three-link subchain approaches a collinear, near-singular configuration in which the transmission ratio tends toward zero, so loads produce only a very small residual back-driving torque.