A. F. van der Stappen, K. Y. Goldberg, and M. Overmars. Geometric eccentricity and the complexity of manipulation plans. Algorithmica, this issue, pp. 494--514. Home/Search Document Details and Download
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Locally Controllable Manipulation by Stable Pushing - Lynch (1999) (Correct)
.... sequences [5] and the proof that a one joint robot operating above a fixed speed conveyor is sufficient to position and orient polygonal parts by pushing [6] Our work on characterizing controllable polygons in terms of their geometry is similar in spirit to the work of van der Stappen et al. [16] on characterizing the complexity of parts orienting in terms of the geometric eccentricity ( thinness ) of the part. We begin with a review of related work. In Section III we provide definitions and derive the necessary and sufficient condition used throughout the paper. Section IV gives an ....
A. F. van der Stappen, K. Y. Goldberg, and M. H. Overmars, "Geometric eccentricity and the complexity of manipulation plans," Algorithmica, to appear.
Issues in Nonprehensile Manipulation - Lynch (Correct)
....is better suited for local tuning of a rough solution than global motion planning. 5 Conclusion Nonprehensile manipulation is a rich source of geometric problems. Examples include determining controllability (as discussed in this paper) and feedability (Akella et al. 2] van der Stappen et al. [38]) based on the part geometry, contact friction, and mass distribution. These problems bear a resemblance to problems in robot grasping characterizing graspable and ungraspable objects and determining the minimum number of fingers required for a grasp. The controllability and feedability ....
A. F. van der Stappen, K. Goldberg, and M. H. Overmars. Geometric eccentricity and the complexity of manipulation plans. Submitted to Algorithmica, November 1996.
Geometry and Part Feeding - van der Stappen, Berretty, Goldberg, .. (2001) Self-citation (Van der stappen Goldberg Overmars) (Correct)
....from an unkown initial orientation to a known final orientation. Chen and Ierardi [23] showed that the length of this sequence is O(n) for polygonal parts with n vertices. In Section 2 we shall provide theoretical foundation to the fact that the sequence length often stays well below this bound [37]. As the act of pushing is common to most feeders that we consider in this paper we will first study the pushing of parts in some detail. The next feeder we consider consists of a sequence of fences which are mounted across a conveyor belt [20, 35, 39] The fences brush the part as it travels down ....
....of the Fig. 3. Feeding three dimensional parts with a sequence of plates and fences. algorithms that solve these problems, and on determining classes of orientable parts. For proofs and detailed descriptions of the algorithms and their extensions the reader is in general referred to other sources [8 15, 37]. 2 Pushing planar parts 2.1 Push functions Throughout the entire paper, we assume zero friction unless stated otherwise between the part and the oftenting device. Let c be the center of mass and P be the convex hull of the planar part. As a pushing device always touches the part at its ....
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A. F. van der Stappen, K. Y. Goldberg, and M. H. Overmars. Geometric eccentricity and the complexity of manipulation plans. Algorithmica, 26:494-514, 2000.
On Fence Design and the Complexity of Push Plans.. - Berretty.. (1997) Self-citation (Van der stappen Goldberg Overmars) (Correct)
....interval containing the possible orientations of P rather than the number of possible orientations while performing the basic actions described above. It can be shown that two subsequent basic actions shrink the interval of possible orientations from [b; a] to [minfb (ff Gamma ) ag; a] see [22] for a proof) Hence, the length of the interval decreases by ff Gamma unless b is close to a. This leads to an upper bound of 2d2=ffe 1 on the number of pushes. Lemma 3.2 For part P , let ff be the length of largest angular interval without equilibrium orientations. The part P will be ....
....of contact of the part P with a jaw (or fence) pushing P in an equilibrium push direction. The jaw touches the part P either at a vertex or along an edge. We observe that P will not rotate if the contact normal at the or one of the points of contact with the jaw passes through its center of mass c [15, 22]. In other words, the normal at some point of contact of P and a supporting line l with contact direction equal to some equilibrium push direction of P passes through c. Let us consider the part P and its two closest parallel supporting lines. Without loss of generality we assume that the ....
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A.F. van der Stappen, K. Goldberg, and M. Overmars. Geometric eccentricity and the complexity of manipulation plans. Technical report, UU-CS-1996-49, Dept. of Computer Science, Utrecht University, 1996.
Parts Feeding on a Conveyor with a One Joint Robot - Akella, Huang, Lynch, Mason (2000) (4 citations) (Correct)
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A. F. van der Stappen, K. Y. Goldberg, and M. Overmars. Geometric eccentricity and the complexity of manipulation plans. Algorithmica, this issue, pp. 494--514.
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