Nina B. Zumel. A Nonprehensile Method for Reliable Parts Orienting. PhD thesis, CMU Robotics Institute, 1997. CMU-RI-TR-97-13.  Home/Search Document Details and Download
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Manipulation of Pose Distributions - Moll, Erdmann (2000) (2 citations) (Correct)
....of final orientations. In (Erdmann et al. 1993) it is shown how (with some simplifying assumptions) three dimensional parts can be oriented using a tray tilting manipulator. In particular, for polyhedral parts with n faces a sequence of tilts of length O(n) can be found in O(n 3 ) time. Zumel (1997) used a variation of the tray tilting idea to orient planar parts. Zumel used two actuated arms connected at a hinge to tilt parts from one arm to the other. The stable poses of the part at different angles were pre computed. The planner then found a sequence of joint angle pairs for the two arms ....
Zumel, N. B. (1997). A Nonprehensile Method for Reliable Parts Orienting. PhD thesis, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA.
Manipulation of Pose Distributions - Moll, Erdmann (2000) (2 citations) (Correct)
....the presence of friction. If it isn t possible to bring a part into a unique orientation, the planner would try to minimize the number of final orientations. In [19] it is shown how (with some simplifying assumptions) three dimensional parts can be oriented using a tray tilting manipulator. Zumel [45] used a variation of the tray tilting idea to orient planar parts with a pair of moveable palms. In recent years a lot of work has been done on programmable force fields to orient parts [9, 10, 28] The idea is that a kind of force field (implemented using e.g. MEMS actuator arrays) can be used ....
Nina B. Zumel. A Nonprehensile Method for Reliable Parts Orienting. PhD thesis, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, January
Mechanics, Planning, and Control for Tapping - Huang, Mason (Correct)
.... This work has been inspired by the ideas behind minimalist robotics, articulated by Canny and Goldberg ( 4] and [5] and by work in many areas of nonprehensile manipulation, such as pushing (Mason [14] and many others) palmar manipulation (Trinkle et al. 19] and [18] Erdmann [7] and Zumel [24]) and paddle juggling (Buhler and Koditschek [3] Rizzi and Koditschek [15] and Schaal and Atkeson [16] Experiments with planar sliders have been performed by Zhu et al. 23] in conjunction with what they call releasing manipulation. In their experiments, objects were accelerated using a ....
N. B. Zumel. A Nonprehensile Method for Reliable Parts Orienting. PhD thesis, Carnegie Mellon University, Jan. 1997.
Nonprehensile Manipulation for Orienting Parts in the Plane - Zumel, Erdmann (1997) (2 citations) Self-citation (Zumel) (Correct)
....planning problem for each equivalence region (node) is to determine the trajectory which the cone must follow to reorient the part. To determine trajectories through equivalent regions, we can take advantage of the fact that equivalence regions are piecewise straight line connected, as is shown in [18]. 4 PLANNING FROM AN UNKNOWN INITIAL STATE In many applications, such as parts feeding, the initial state of the object may not be known. In this section we will focus on the problem of determining a palm trajectory which will always bring the part to a single final state. 4.1 FRICTIONLESS CASE ....
....with the left palm horizontal and then and tilt both palms clockwise, keeping their relative angle fixed, until the right palm is horizontal. The other type of motion was to start with the right palm horizontal, and tilt clockwise until the left palm is horizontal. It is possible, as shown in [18], to select the set fOE i g such that its corresponding set of motions, as described above, satisfies the following condition. For any state to which the part can be homed using only pure tilt motions, a corresponding homing sequence can be constructed from this set of motions. Hence, the planner ....
N. B. Zumel. Nonprehensile Methods for Reliable Parts Orienting, Ph.D. Thesis, Robotics Institute, CMU. In progress.
Geometric and Dynamic Sensing: Observation of Pose and Motion.. - Jia (1997) (Correct)
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Nina B. Zumel. A Nonprehensile Method for Reliable Parts Orienting. PhD thesis, CMU Robotics Institute, 1997. CMU-RI-TR-97-13.
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