Mark Moll :: publications

Manipulation of Pose Distributions

Mark Moll and Michael A. Erdmann. Manipulation of Pose Distributions. In Bruce R. Donald, Kevin M. Lynch, and Daniela Rus, editors, Algorithmic and Computational Robotics: New Directions, pp. 127–141, A. K. Peters, 2001.

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Abstract

For assembly tasks parts often have to be oriented before they can be put in an assembly. The results presented in this paper 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 on 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

@InCollection{moll-erdmann2001:manip-pose-distr,
  author =	 "Mark Moll and Michael A. Erdmann",
  title =	 "Manipulation of Pose Distributions",
  booktitle =	 "Algorithmic and Computational Robotics: New Directions",
  pages =	 "127--141",
  publisher =	 "A. K. Peters",
  year =	 2001,
  editor =	 "Bruce R. Donald and Kevin M. Lynch and Daniela Rus",
  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 paper 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 on 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.",
}

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