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In this paper, we describe the use of tapping actuators in a "micropositioning cell." Tapping actuators are fixed (both in position and orientation) about the perimeter of the cell. A part in the cell can be precisely positioned by firing a sequence of tapping actuators (sensing the position of the object after each tap for feedback control). Such a system could be used for micropositioning tasks or in parts feeding applications. We show the controllability of this system for circular parts,doi:10.1109/robot.2000.846347 dblp:conf/icra/Huang00 fatcat:fz6jyqc7snb6hfprkl3i4orxw4