Manipulation of Pose Distributions
Mark Moll and Michael A. Erdmann. Manipulation of Pose Distributions. Technical Report CMU-CS-00-111, Dept. of Computer Science, Carnegie Mellon University, 2000.
Download
Abstract
For assembly tasks parts often have to be oriented before they can be put in an assembly. The results presented in this report are a component of the automated design of parts orienting devices. The focus is on orienting parts with minimal sensing and manipulation. We present a new approach to parts orienting through the manipulation of pose distributions. Through dynamic simulation we can determine the pose distribution for an object being dropped from an arbitrary height onto an arbitrary surface. By varying the drop height and the shape of the support surface we can find the initial conditions that will result in a pose distribution with minimal entropy. We are trying to uniquely orient a part with high probability just by varying the initial conditions. We will derive a condition on the pose and velocity of an object in contact with a sloped surface that will allow us to quickly determine the final resting configuration of the object. This condition can then be used to quickly compute the pose distribution. We also present simulation and experimental results that show how dynamic simulation can be used to find optimal shapes and drop heights for a given part.
BibTeX Entry
@TechReport{moll-erdmann2000:manip-pose-distr-tr,
author = "Mark Moll and Michael A. Erdmann",
title = "Manipulation of Pose Distributions",
institution = "Dept. of Computer Science, Carnegie Mellon University",
year = 2000,
number = "CMU-CS-00-111",
keywords = "pose distributions, parts orienting, dynamic simulation",
abstract = "For assembly tasks parts often have to be oriented before
they can be put in an assembly. The results presented in
this report are a component of the automated design of
parts orienting devices. The focus is on orienting parts
with minimal sensing and manipulation. We present a new
approach to parts orienting through the manipulation of
pose distributions. Through dynamic simulation we can
determine the pose distribution for an object being
dropped from an arbitrary height onto an arbitrary
surface. By varying the drop height and the shape of the
support surface we can find the initial conditions that
will result in a pose distribution with minimal
entropy. We are trying to uniquely orient a part with high
probability just by varying the initial conditions. We
will derive a condition on the pose and velocity of an
object in contact with a sloped surface that will allow us
to quickly determine the final resting configuration of
the object. This condition can then be used to quickly
compute the pose distribution. We also present simulation
and experimental results that show how dynamic simulation
can be used to find optimal shapes and drop heights for a
given part.",
}