Seems to be a lot of cylindrical pillars with pressure sensors and motors, that can be tilted by a slight degree in both X-Y axes, or they have a fixed tilt and just the tilt direction is rotated in Z (seems like the pillars of a whole module get adjusted all at once), making only some borders be in contact with an object. A program can track the position of an object, then calculate how to tilt and rotate the pillars so the borders in contact with the object will push it in the desired direction.

It reminds me somewhat of an omniwheel control system, but applied to the floor instead of the wheels.