Rao, A., and Goldberg, K. 1995. Manipulating algebraic parts in the plane. IEEE Transactions on Robotics and Automation 11(4):598--602.  Home/Search   Document Details and Download   Summary   Related Articles   Check

.... 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 does it rely on detailed models of friction and ....

A.S. Rao and K.Y. Goldberg, "Manipulating algebraic parts in the plane," IEEE Transactions on Robotics and Automation, pp. 598--602, 1995.

....algorithm that is simple and produces a solution that is within a log factor from optimal. Keywords: Robotics, grasping, object recognition, decision tree, approximation algorithm. 1 Introduction In automated manufacturing it is often necessary to recognize parts and their orientation; see [1, 2, 3, 4, 6, 9, 10]. In this paper we discuss a model suggested in a few recent robotics papers [3, 9, 4] in which a finite set of polygonal parts is given and one considers a parallel jaw gripper that can grasp any polygonal part in a finite number of stable grasps. A grasp is called stable if at least 3 vertices ....

A.S. Rao and K.Y. Goldberg. Manipulating Algebraic Parts in the Plane. IEEE Trans. Robot. Autom., 11(4):598 602, Aug 1995. 10

....from Hughes Research Laboratories, Boeing Computer Services, and by NSF Grants ECSE 8857642 and CCR 9204585. Partially supported by NSF grant CCR 9109289 and ONR award 400xl16yip01. Introduction In automated manufacturing it is often necessary to recognize parts and their orientation; see [1, 2, 3, 4, 6, 9, 10]. In this paper we discuss a model suggested in a few recent robotics papers [3, 9, 4] in which a finite set of polygonal parts is given and one considers a parallel jaw gripper that can grasp any polygonal part in a finite number of stable grasps. A grasp is called stable if at least 3 vertices ....

A.S. Rao and K.Y. Goldberg. Manipulating Algebraic Parts in the Plane. IEEE Trans. Robot. Autom., 11(4):598-602, Aug 1995. 10

....of objects by squeeze grasps is analogous to palmar manipulation of one object with two hands, with gravity perpendicular to the plane. He finds sets of actions which reliably orient a part in the presence of uncertainty in the part s location. Goldberg, and later Rao and Goldberg ( 37] [74]) found algorithms for determining sequences of squeezes of a parallel jaw gripper which will reliably orient (up to symmetry) frictionless, polygonal or algebraic, planar parts from an arbitrary and unknown initial orientation, without sensors. Mason and Erdmann [34] use gravity to propel parts ....

A. S, Rao and K. Y. Goldberg. "Manipulating Algebraic Parts in the Plane", IEEE Transactions on Robotics & Automation, vol. 11, no. 4, pp. 598-602, August 1995.

....basic gripper to reduce the friction between the gripper and the object being grasped. This friction occurs when the gripper is being closed on an object, and this object is forced to rotate. Several results exist on finding grasps for such a parallel jaw gripper, when the object is known [RG94, RG95] Recent results consider closing the gripper on an unknown object, and measuring the jaw distance for various orientations [Rao93] This permits the determination of the object, but also subjects it to many motions. Another method involves grasping in random orientations to distinguish planar ....

A. Rao and K. Goldberg. Manipulating Algebraic Parts in the Plane. IEEE Tras. on Robotics and Automation, 11(4), 1995.

....orient a part in O(n 2 ) time, n being the vertices of the convex hull of the part. The produced plan has O(n) gripping operations and the orientation is done up to symmetries of the convex hull of the part. The algorithm has been generalized to parts that have piecewise algebraic convex hulls [17]. Nonprehensile manipulation techniques are frequently used for the design of parts feeders. Nonprehensile manipulation exploits task mechanics to orient parts without grasping. Examples of parts feeders that rely on this principle include the one joint robot that manipulates parts on a conveyor ....

A. Rao and K. Goldberg. Manipulating algebraic parts in the plane. IEEE Tr. Rob. Autom., 11:598--602, 1995.

....of objects by squeeze grasps is analogous to palmar manipulation of one object with two hands, with gravity perpendicular to the plane. He finds sets of actions which reliably orient a part in the presence of uncertainty in the part s location. Goldberg, and later Rao and Goldberg ( 14] [28]) present algorithms for determining sequences of squeezes of a parallel jaw gripper which will reliably orient frictionless polygonaland algebraic planar parts from arbitrary and unknown initial orientations, without sensors. Mason and Erdmann [12] use gravity to propel parts onto a flat surface, ....

....focus on relaxing the requirement that all contacts slide, in order to extend the model to systems with higher coefficients of contact friction. Also of interest is finding plans for orienting objects reliably to known goal states from uncertain initial states, as in the grasping plans of [14] [28]. Acknowledgements We would like to thank Matt Mason, Randy Brost, David Baraff, Tammy Abell, Srinivas Akella, Wes Huang, YanBin Jia, Kevin Lynch, Garth Zeglin, and John Mount for many helpful discussions and comments. We would also like to thank David Baraff for the use of his simulator, and ....

Rao, A. S.; Goldberg, K. Y.; "Manipulating Algebraic Parts in the Plane", IEEE Jou. R. & A., 11(4):598-602, 1995.

....P having an n sided convex hull, there exists a sequence of 2n Gamma 1 squeezes achieving a single orientation of P (up to symmetries of the convex hull) This sequence is computed in O(n 2 log n) time. This result has been generalized to planar parts having a piecewise algebraic convex hull [RG95] New fabrication techniques, like MEMS, can be used to build arrays of tiny actuators that can be programmed to orient mechanical parts [BDM96] OPEN PROBLEMS A major open practical problem is to predict feeder throughputs to evaluate alternative feeder designs, given the geometry of the parts ....

A.S. Rao and K.Y. Goldberg. Manipulating algebraic parts in the plane. IEEE Tr. on Rob. and Autom., 11:598--602, 1995.

....principle be used or reused for a variety of reorientation tasks. There has also been much work on manipulation in the face of uncertainty. Brost [4] finds sets of actions which reliably orient a part in the presence of uncertainty in the part s location. Goldberg, and later Rao and Goldberg ( 8] [13]) found algorithms for determining sequences of squeezes of a parallel jaw gripper which will reliably orient (up to symmetry) frictionless polygonal or algebraic planar parts from an arbitrary and unknown initial orientation, without sensors. Mason and Erdmann [7] use gravity to propel parts onto ....

A. S. Rao and K. Y. Goldberg. "Manipulating Algebraic Parts in the Plane", IEEE Jou. R. & A., 11(4):598-602, August 1995.

....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, I(0) gives the part s final ....

....include a broad class of industrial curves, and surfaces) 17] The algorithm runs in O(n) time, given the arcs in order, and is therefore optimal. The constant of propordonality is a unit of symbolic computation time defined in Section 2.2. When combined with the planning algorithm given in [32], the results in this paper provide a complete algorithm for planning sensofiess strategies for oftenting algebraic parts. Examples of such plans are presented in Section 3.3. We next describe related work; Section 2 defines diameter and grasp functions and the description of the latter in terms ....

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A. S. Rao and K. Y. Goldberg. Manipulating algebraic parts in the plane. Technical Report RUU-CS-93-43, Utrecht University, Department of Computer Science, December 1993.

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Rao, A., and Goldberg, K. 1995. Manipulating algebraic parts in the plane. IEEE Transactions on Robotics and Automation 11(4):598--602.

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