Stable pushing: mechanics, controllability, and planning
International Journal of Robotics Research
Computational geometry: algorithms and applications
Computational geometry: algorithms and applications
Computing fence designs for orienting parts
Computational Geometry: Theory and Applications - special issue on applied computational geometry
Universal part manipulation in the plane with a single horizontally-vibrating plate
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
Mechanics of robotic manipulation
Mechanics of robotic manipulation
Orienting polyhedral parts by pushing
Computational Geometry: Theory and Applications - Special issue on: Sixteenth European Workshop on Computational Geometry (EUROCG-2000)
Assembly Automation and Product Design, Second Edition (Manufacturing Engineering and Materials Processing)
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In the context of automated feeding (orienting) of industrial parts, we study the algorithmic design of traps in the bowl feeder track that filter out all but one orientation of a given polyhedral part. We propose a new class of traps that removes a V-shaped portion of the track. The proposed work advances the state-of-the-art in algorithmic trap design by extending earlier work1,6,17—which focuses solely on 2D parts—to 3D parts, and by incorporating a more realistic part motion model in the design algorithm. We exploit the geometric structure of the design problem and build on concepts and techniques from computational geometry to obtain an efficient algorithm that reports the complete set of valid traps.