On the combinatorial and algebraic complexity of quantifier elimination
Journal of the ACM (JACM)
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
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
Geometric algorithms for trap design
SCG '99 Proceedings of the fifteenth annual symposium on Computational geometry
Journal of the ACM (JACM)
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)
International Journal of Robotics Research
Planning for provably reliable navigation using an unreliable, nearly sensorless robot
International Journal of Robotics Research
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Many automated manufacturing processes require parts to be oriented prior to assembly. A part feeder takes in a stream of identical parts in arbitrary orientations and outputs them in uniform orientation. We consider part feeders that do not use sensing information to accomplish the task of orienting a part; these feeders include vibratory bowls, parallel jaw grippers, and conveyor belts and tilted plates with so-called fences. The input of the problem of sensorless manipulation is a description of the part shape and the output is a sequence of actions that moves the part from its unknown initial pose into a unique final pose. For each part feeder we consider, we determine classes of orientable parts, give algorithms for synthesizing sequences of actions, and derive upper bounds on the length of these sequences.