H. Hirukawa, Y. Papegay, and T. Matsui, \A motion planning algorithm for convex polyhedra in contact under translation and rotation," in Proceedings of the 1994.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....etc. The position and orientation of both objects is not well known at the start of the task. The solution to this problem consists of three components: planning, control and estimation. 1. Planning: an o line task planner speci es the nominal sequence of CFs to be executed. See e.g. 3] [4], 5] for solutions to this problem. For the example of Figure 1, this sequence consists of the following CFs: no contact; one vertex face CF; one edge face CF; one face face CF; one face face plus one edge face CF; two face face CF; and nally three face face cf. The planner also describes the ....

....the next CF in the task plan. For systems with larger uncertainties the real CF sequence can deviate from the planned one. This means that after the inconsistency detection the same CF as before and all of its neighboring CFs are probable. These neighboring CFs can be read from a CF graph [3] [4], 5] After inconsistency detection and when the contact is stable again, an estimator is constructed for each probable CF and initialized with the current state estimate and uncertainty. The real CF (real lter) is determined by comparing the probability of the pose, twist and wrench ....

H. Hirukawa, Y. Papegay, and T. Matsui, \A motion planning algorithm for convex polyhedra in contact under translation and rotation," in Proceedings of the 1994.

.... a model for which the geometrical parameters can be determined) In our lab, for execution of the cube in corner task with small uncertainties, the executed sequence of CFs is assumed to be error free, i.e. after a contact transition the CF is the next one in the (o# line calculated) task plan [11, 21]. This means that after an inconsistency detection two CFs are probable: the same CF as before the inconsistency detection (false alarm) and the next CF in the task plan. 15, 3] estimate the geometrical parameters with Kalman Filters and detect inconsistency by a SNIS test [2] Several Bayesian ....

H. Hirukawa, Y. Papegay, and T. Matsui. A motion planning algorithm for convex polyhedra in contact under translation and rotation. In Proc. of the 1994.

....parameters) in the columns of U . Every parameter direction for which the information gain is larger than zero is an observed parameter direction. 3 Active sensing over CF sequences Each CF sequence yields other observable parameter directions. Starting from a graph of neighboring CFs, Figure 4 [12, 13], a search is launched which minimizes the time to obtain the goal CF while observing all parameter directions to the required accuracy. The measurements used are the pose t d and the twist t of the manipulated object. For each CF, following are calculated: the path to move from the CF to the ....

H. Hirukawa, Y. Papegay, and T. Matsui, "A motion planning algorithm for convex polyhedra in contact under translation and rotation," in Proceedings of the 1994.

.... by a set of principal contacts (PC) 12] Given two parts to be assembled, to manually enumerate CF s between them and relations among CF s is tedious even for tasks of simple geometry [13] While it is relatively straightforward to generate such graphs automatically for convex polyhedra [14] it is far from trivial for non convex objects. 12, 15] recently introduced a promising approach towards automatic generation of CF graphs for arbitrary polyhedral objects. The approach is characterized by directly exploiting both topological and geometrical knowledge of contacts in the physical ....

H. Hirukawa, Y. Papegay, and T. Matsui, "A motion planning algorithm for convex polyhedra in contact under translation and rotation," in Proceedings of the 1994.

.... by a set of principal contacts (PC) 12] Given two parts to be assembled, to manually enumerate ##s between them and relations among ##s is tedious even for tasks of simple geometry [13] While it is relatively straightforward to generate such graphs automatically for convex polyhedra [14] it is far from trivial for non convex objects. 12, 15] recently introduced a promising approach towards automatic generation of ## graphs for arbitrary polyhedral objects. The approach is characterized by directly exploiting both topological and geometrical knowledge of contacts in the physical ....

H. Hirukawa, Y. Papegay, and T. Matsui, "A motion planning algorithm for convex polyhedra in contact under translation and rotation," in Proceedings of the 1994 IEEE International Conference on Robotics and Automation, pp. 3020--3027, May 1994.

....of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, B 3001 Leuven (Heverlee) Belgium. Fax: 32(0) 16 32 29 87. E mail: Tine.Lefebvre mech.kuleuven.ac.be 1. Planning: an o# line task planner specifies the nominal sequence of CFs to be executed. See e.g. 3] [4], 5] for solutions to this problem. For the example of Figure 1, this sequence consists of the following CFs: no contact; one vertex face CF; one edge face CF; one face face CF; one face face plus one edge face CF; two face face CF; and finally three face face cf. The planner also describes the ....

....the next CF in the task plan. For systems with larger uncertainties the real CF sequence can deviate from the planned one. This means that after the inconsistency detection the same CF as before and all of its neighboring CFs are probable. These neighboring CFs can be read from a CF graph [3] [4], 5] After inconsistency detection and when the contact is stable again, an estimator is constructed for each probable CF and initialized with the current state estimate and uncertainty. The real CF (real filter) is determined by comparing the probability of the pose, twist and wrench ....

H. Hirukawa, Y. Papegay, and T. Matsui, "A motion planning algorithm for convex polyhedra in contact under translation and rotation," in Proceedings of the 1994 IEEE International Conference on Robotics and Automation, May 1994, pp. 3020--3027.

....efficiency and effectiveness, the algorithm can be used in any computer modeling and simulation environment which require reasoning about topological contacts. 1 Introduction In many simulation problems of robotic tasks, particularly simulation of manipulation tasks and rigidbody dynamics (e.g. [7, 5, 2]) it is often necessary to have a mechanism which tells whether and how two virtual objects, characterized by their geometric models, are in contact. In addition, certain offline motion planning algorithms also require the derivation of topological contact information from two object models. ....

Hirukawa, H., Papegay, Y. and Matsui, T., "A Motion Planning Algorithm for Convex Polyhedra in Contact under Translation and Rotation," Proc. IEEE ICRA, pp. 3020-3027, May 1994.

.... knowledge of contact states, such knowledge is usually assumed a priori or generated manually as input to be used later in planning or in reasoning about sensory feedback (which often involves detection or recognition of contact states) Recently an algorithm was reported by Hirukawa et al. [6] to generate contact state graphs automatically. However, the study was limited to convex polyhedra and did not consider uncertainties. In reality, the presence of non convex objects greatly increases the variety of contact states; manual enumeration of contact states can be too tedious even for ....

H. Hirukawa, Y. Papegay, and T. Matsui, "A Motion Planning Algorithm for Convex Polyhedra in Contact under Translation and Rotation," IEEE Int. Conf. Robotics & Automation, pp. 3020-3027, San Diego, May 1994.

....for complex tasks where complicated non convex objects can create a huge variety of different contact states [16] Recently This research is supported by the National Science Foundation under grant IIS 9700412. 1 for discrete contact states an algorithm was reported by Hirukawa et al. [6, 7] to create certain contact state graphs automatically, but only the result for convex polyhedra was reported. We need to point out that there is considerable work in the literature computing configuration space (C space) obtacles, but most are just for 2 D objects [1, 9, 14, 15] Only a few ....

H. Hirukawa, Y. Papegay, and T. Matsui, "A Motion Planning Algorithm for Convex Polyhedra in Contact under Translation and Rotation", IEEE Int. Conf. Robotics & Automation, pp. 3020-3027, May 1994.

....and effectiveness, the algorithm can be used in any computer modeling and simulation environments which require reasoning about topological contacts. 1 Introduction In many simulation problems of robotic tasks, particularly simulation of manipulation tasks and rigid body dynamics (e.g. [12, 10, 2]) it is often necessary to have a mechanism which tells whether and how two virtual objects, characterized by their geometric models, are in contact. In addition, certain off line motion planning algorithms also require the derivation of topological contact information from two object models. ....

Hirukawa, H., Papegay, Y. and Matsui, T., "A Motion Planning Algorithm for Convex Polyhedra in Contact under Translation and Rotation," Proc. IEEE Int. Conf. Robotics and Automation, pp. 3020-3027, May 1994.

.... of the moving polyhedron and developed an algorithm for determining their possible velocity and applicable force from their geometric models[6] Wilson studied extended translations besides them[7] The authors also presented a complete motion planning algorithm for convex polyhedra in contact[8]. Considering these results, we can summarize the open problems in the motion planning of polyhedra in contact as follows. We don t have an algorithm to determine a sequence of the topological contact states, each of which is defined by the combination of the features of the polyhedra in contact. ....

....in contact. We first define the configuration space of the moving polyhedron by using the special unitary 2 Theta 2 matrix to have the algebraic representation of the problem. Next, we review our motion planning algorithm of convex polyhedra in contact under finite translation and rotation[8]. We also discuss what happens in the nonconvex cases, and claim that the astute geometric formulations can make the algebraic problem easier to solve not only in the convex cases but also in the nonconvex cases. FORMULATION OF THE PROBLEM Configuration space In this section, we define the ....

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H.Hirukawa, Y.Papegay and T.Matsui, "A Motion Planning Algorithm for Convex Polyhedra in Contact under Translation and Rotation", IEEE Conf. Robotics and Automation, 3020/3027, 1994.

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H. Hirukawa, Y. Papegay, and T. Matsui, \A motion planning algorithm for convex polyhedra in contact under translation and rotation," in Proceedings of the 1994.

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H. Hirukawa, Y. Papegay, and T. Matsui. A motion planning algorithm for convex polyhedra in contact under translation and rotation. In Proc. of the 1994.

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H. Hirukawa, Y. Papegay, and T. Matsui. A motion planning algorithm for convex polyhedra in contact under translation and rotation. In Proc. of the 1994.

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