Citations: Orienting polygonal parts without sensors

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Kenneth Y. Goldberg. Orienting polygonal parts without sensors. Algorithmica, 8(10):201--225, 1993.

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Stable Limit Sets in a Dynamic Parts Feeder - Lynch, Northrop, Pan (2002) (Correct)

.... the state of a part (or set of parts) The feeder may rely solely on the geometry of specially designed fixtures interacting with a part on a conveyor belt or in a gravity field [8] 10] 29] 31] 20] 3] 5] 25] 32] 33] or specially designed motions of generic surfaces [11] 26] [12], 34] 7] 1] 6] 19] or some combination of geometry, materials, and motion (open loop or sensor based) design. In all cases, the goal is to collapse the possible initial states of the part into a smaller set (ideally a singleton) We describe a simple planar parts feeder consisting of a ....

K. Y. Goldberg. Orienting polygonal parts without sensors. Algorithmica, 10:201--225, 1993.

In-Hand Manipulation: Geometry And Algorithms - Attawith Sudsang And (Correct)

.... space for which the object is not immobilized but is constrained to lie within a bounded region of the free configuration space (see [10] for related work in the two dimensional, two finger case) ICS regions will allow us to plan in hand object motions as sequences of gripper configurations (see [1, 4, 5, 6, 7, 9, 10] for related work) starting from some immobilizing configuration, we can open the gripper jaws and retract the immobilizing pins, then choose another triple of pins whose ICS region contains the initial gripper configuration, lower these pins, and as the jaws close, move the object to the ....

K.Y. Goldberg. Orienting polygonal parts without sensors. Algorithmica, 10(2):201--225, 1993.

An Implemented Planner for Manipulating a Polygonal.. - Sudsang, Rothganger.. (Correct)

....all times in the ICS region associated with the robots, and the manipulation will succeed as long as the friction forces associated with contacts between the robots, the object and its supporting plane are not large enough to cause jamming. Unlike other techniques for manipulation planning (e.g. [1, 3, 5, 7, 8, 9]) this approach does not require that robot object contact be maintained during grasping or manipulation, nor does it rely on any particular model of friction or contact dynamics. The methods presented in [2, 10, 15] can only be used to generate plans where robots move one by one in a fixed ....

K.Y. Goldberg. Orienting polygonal parts without sensors. Algorithmica, 10(2):201--225, 1993.

Motion Planning for Disc-shaped Robots Pushing a.. - Sudsang, Rothganger.. (2002) (1 citation) (Correct)

.... was pioneered by Inoue [16] and Whitney [17] and techniques for re orienting parts through pushing and grasping operations have been developed by several authors, including Fearing [18] Mason [19] Mani and Wilson [20] Brost [21] Erdmann and Mason [22] Peshkin and Sanderson [23] Goldberg [24], Abell and Erdmann [25] Rao and Goldberg [26] Akella et al. 27] and Leveroni and Salisbury [28] Unlike these methods, that all assume some predictive model of the contact mechanics, our approach does not require that robot object contact be maintained during grasping or manipulation, nor ....

K.Y. Goldberg, "Orienting polygonal parts without sensors," Algorithmica, vol. 10, no. 2, pp. 201--225, 1993.

On the Number of Equilibrium Placements of Mass Distributions in.. - Kavraki (1995) (10 citations) (Correct)

.... University Technical Report STAN CS TR 1995 1559 On the number of equilibrium placements of mass distributions in elliptic potential fields Lydia E. Kavraki Robotics Laboratory, Department of Computer Science Stanford University, Stanford, CA 94305, USA Abstract Recent papers have demonstrated the use of force fields for mechanical ....

.... University Technical Report STAN CS TR 1995 1559 On the number of equilibrium placements of mass distributions in elliptic potential fields Lydia E. Kavraki Robotics Laboratory, Department of Computer Science Stanford University, Stanford, CA 94305, USA Abstract Recent papers have demonstrated the use of force fields for mechanical ....

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K. Y. Goldberg. Orienting polygonal parts without sensors. Algorihmica, (10):201-225, 1993.

A Geometric Approach to Designing a Programmable Force Field .. - Sudsang, Kavraki (2001) (4 citations) (Correct)

....vibratory bowl feeders [2] while the mainstream research in manufacturing has focused in developing more flexible and more robust platforms, such as programmable part feeders. This type of part feeder can be programmed to handle different parts without the need for hardware modification (e.g. [9, 12, 10, 1, 7]) A new direction in programmable part feeding that has recently gained attention in research is the use of a new class of devices for non prehensile distributed manipulation. Examples are, in microscale, the use of MEMS actuators arrays [4] and in macroscale, the use of mechanical devices ....

....as a strategy for applying a sequence of fields to bring a part from one equilibrium to another until it reaches a desired configuration. In [4] it has been shown that polygonal parts can be oriented by a sequence of squeeze fields. The sequence is planned using an algorithm similar to the one in [12] for orienting polygonal parts with a sensorless parallel jaw gripper. The number of steps in the sequence depends on the complexity of the geometry of the convex hull of the oriented part and the uniqueness of the final orientation is only upto modulo . Another research direction ....

K. Y. Goldberg. Orienting polygonal parts without sensors. Algorithmica, 10:201--225, 1993.

A "RISC" Paradigm for Industrial Robotics - John Canny Kenneth (1993) (2 citations) Self-citation (Goldberg) (Correct)

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Ken Goldberg. Orienting polygonal parts without sensors. Algorithmica, (to appear).

Manipulating Algebraic Parts in the Plane - Rao, Goldberg (1993) (10 citations) Self-citation (Goldberg) (Correct)

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K. Y. Goldberg. Orienting polygonal parts without sensors. Algorithmica, 10(2):201--225, Aug 1993. (Special issue on Computational Robotics).

Gripping Parts at Concave Vertices - Gopalakrishnan, Goldberg (2001) (3 citations) Self-citation (Goldberg) (Correct)

....use trapezoidal jaw modules that maximize contact between the jaws and the part by combining analysis of toppling, jamming, liftoff, accessibility and form closure. Berretty et al. [1] describe a method to orient parts by pulling with one cylindrical jaw that generalizes the algorithm described in [7]. The stable positions when pulling with the jaw occur only when the jaw is in a concavity. Sugar and Kumar [27] give an excellent review of grasp quality metrics and propose frame invariant quality metrics based on the grasp stiffness matrix. We define a kinematic metric based on sensitivity of ....

Ken Goldberg, Orienting Polygonal Parts Without Sensors, Algorithmica, v10, 1993

Geometric Eccentricity and the Complexity of.. - van der Stappen.. (1996) (3 citations) Self-citation (Goldberg) (Correct)

....the part is assumed to be unknown. In sensorless manipulation, parts are positioned and or oriented using passivemechanical compliance. The input is a description of part shape and the output is a sequence of open loop actions that moves a part from an unknown initial pose into a unique final pose [2,6,7,8,9, 10, 11, 16,17, 20]. Goldberg [11] considered the problem of orienting (feeding) polygonal parts using a paralleljaw gripper. A parallel jaw gripper consists of a pair of flat parallel jaws that can close in the direction orthogonal to the jaws, allowing it to squeeze the part. Figure 1 shows a (frictionless) ....

....manipulation, parts are positioned and or oriented using passivemechanical compliance. The input is a description of part shape and the output is a sequence of open loop actions that moves a part from an unknown initial pose into a unique final pose [2,6,7,8,9, 10, 11, 16,17, 20] Goldberg [11] considered the problem of orienting (feeding) polygonal parts using a paralleljaw gripper. A parallel jaw gripper consists of a pair of flat parallel jaws that can close in the direction orthogonal to the jaws, allowing it to squeeze the part. Figure 1 shows a (frictionless) parallel jaw ....

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K.Y. Goldberg, Orienting polygonal parts without sensors, Algorithmica 10 (1993), pp. 201-225.

Computing Grasp Functions - Rao, Goldberg (1994) Self-citation (Goldberg) (Correct)

....that describes the outcome of first pushing and then grasping the part. 1 Introduction In manufacturing, it is often necessary to orient parts prior to packing or assembly. In previous work, we showed that a modified parallel jaw gripper can be used to orient planar parts bounded by linear [10] and algebraic curves [32] See Fig.s 1 and 4. This approach uses mechanical compliance of the part as it is grasped; part rotation can be precisely characterized with a function, I : S x S , that we call the grasp function. Given an initial orientation 0 of the part with respect to the gripper, ....

....but the end points as well, then [20] shows that from 3n 2 projection probings, you can recover the complete shape of the polygon. These results show that recovering shape from diameter is a difficult problem as well; many objects have the same diameter function. However, our results in [10, 32] then imply that all parts having the same diameter function (and hence the same grasp function) have the same oftenting plan. In this paper, our focus is on computing the grasp function from extrema (local maxima and local minima) in the diameter function, the first step towards oftenting parts ....

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K. Y. Goldberg. Orienting polygonal parts without sensors. A!gorithmica, 10(2):201-225, Aug 1993. (Special issue on Computational Robotics). 16

Geometric and Dynamic Sensing: Observation of Pose and Motion.. - Jia (1997) (Correct)

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Kenneth Y. Goldberg. Orienting polygonal parts without sensors. Algorithmica, 8(10):201--225, 1993.

Manipulation of Pose Distributions - Mark Moll Michael (Correct)

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Goldberg, K. Y. (1993). Orienting polygonal parts without sensors. Algorithmica, 10(3):201--225. Goyal, S., Papadopoulos, J. M., and Sullivan, P. A. (1998a). The dynamics of clattering I: Equation of motion and examples. J. of Dynamic Systems, Measurement, and Control, 120:83--93.

Robot Motion Planning: A Game-Theoretic Foundation - Steven Lavalle Department (1996) (Correct)

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K. Y. Goldberg. Orienting polygonal parts without sensors. Algorithmica, 10:201-225, 1993.

Algorithms for Planning under Uncertainty in Prediction .. - O'Kane, Tovar, Cheng.. (2005) (Correct)