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14
Dynamic Manipulation
 In IEEE/RSJ International Conference on Intelligent Robots and Systems
, 1993
"... This paper"'describes some preliminary work on dynamic manipulationsome ezamples, a definition, and analysis of throwing a club ..."
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Cited by 92 (13 self)
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This paper"'describes some preliminary work on dynamic manipulationsome ezamples, a definition, and analysis of throwing a club
Prototyping millirobots using dextrous microassembly and folding
 In Symp on Microrobotics ASME Intl Mech Eng Cong and Expo
, 2000
"... This paper discusses two processes for rapidly prototyping micromechanical systems: first microassembly, and second, laser cutting of thin sheets and folding. Submillimeter rigid blocks can be dextrously manipulated using two 1 DOF fingers and an XYZ micropositioning stage. Algorithms for micropa ..."
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Cited by 19 (8 self)
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This paper discusses two processes for rapidly prototyping micromechanical systems: first microassembly, and second, laser cutting of thin sheets and folding. Submillimeter rigid blocks can be dextrously manipulated using two 1 DOF fingers and an XYZ micropositioning stage. Algorithms for micropart manipulation use openloop compliant grasps combined with slip to align microparts, which can then be adhesively bonded. Strong, lightweight structures with low friction flexural joints can be readily laser cut, then folded. Potentially, thermally driven actuators can be simply integrated with flexural structures to build fingers for part manipulation.
Part pose statistics: estimators and experiments
 IEEE Transactions on Robotics and Automation
, 1999
"... Abstract—Many of the most fundamental examples in probability involve the pose statistics of coins and dice as they are dropped on a flat surface. For these parts, the probability assigned to each stable face is justified based on part symmetry, although most gamblers are familiar with the possibili ..."
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Cited by 14 (2 self)
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Abstract—Many of the most fundamental examples in probability involve the pose statistics of coins and dice as they are dropped on a flat surface. For these parts, the probability assigned to each stable face is justified based on part symmetry, although most gamblers are familiar with the possibility of loaded dice. In industrial part feeding, parts also arrive in random orientations. We consider the following problem: given part geometry and parameters such as center of mass, estimate the probability of encountering each stable pose of the part. We describe three estimators for solving this problem for polyhedral parts with known center of mass. The first estimator uses a quasistatic motion model that is computed in time O(n log n) for a part with n vertices. The second estimator has the same time complexity but takes into account a measure of dynamic stability based on perturbation. The third estimator uses repeated Monte Carlo experiments wit(15ra05goldberg)h a mechanics simulation package. To evaluate these estimators, we used a robot and computer vision system to record the pose statistics based on 3595 physical drop experiments with four different parts. We compare this data to the results from each estimator. We believe this is the first paper to systematically compare alternative estimators and to correlate their performance with statistically significant experiments on industrial parts.
Reconstructing Shape from Motion Using Tactile Sensors
 IN PROC. 2001 IEEE/RSJ INTL. CONF. ON INTELLIGENT ROBOTS AND SYSTEMS, MAUI
, 2001
"... We present a new method to reconstruct the shape of an unknown object using tactile sensors without requiring object immobilization. Instead, the robot manipulates the object without prehension. The robot infers the shape, motion and center of mass of the object based on the motion of the contact po ..."
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Cited by 13 (2 self)
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We present a new method to reconstruct the shape of an unknown object using tactile sensors without requiring object immobilization. Instead, the robot manipulates the object without prehension. The robot infers the shape, motion and center of mass of the object based on the motion of the contact points as measured by tactile sensors. Our analysis is supported by simulation and experimental results.
A Nonprehensile Method for Reliable Parts Orienting
 Ph.D. Thesis, Robotics Institute, CMU. In
, 1997
"... of NSF, ..."
Computing ParallelJaw Grips
 PROC. IEEE INT. CONF. ROBOTICS AND AUTOMATION
, 1999
"... In this paper we propose a new model for gripping parts with an industrial paralleljaw gripper. In contrast to many previous models, we use two grip points and define candidate grips that are resistant to slipping and torque about the part's center of mass. These grips must also be accessible and ..."
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Cited by 10 (4 self)
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In this paper we propose a new model for gripping parts with an industrial paralleljaw gripper. In contrast to many previous models, we use two grip points and define candidate grips that are resistant to slipping and torque about the part's center of mass. These grips must also be accessible and robust to perturbations in part position. We give an O(n³) algorithm for computing and ranking O(n²) such grips on an nsided polygonal slice through the part. The algorithm will be part of a design and simulation system that can rapidly provide feedback to designers; thus it must run quickly and reliably. We have also implemented the algorithm in a Java applet with a graphical user interface that allows Internet users to define a part; the applet computes, ranks, and displays the set of computed grips. To try the applet, please visit: http://ford.ieor.berkeley.edu/grip/
Compensatory Grasping with the Parallel Jaw Gripper
, 1999
"... For many industrial parts, their natural resting pose differs from the orientation desired for assembly. We have found that it is possible in many cases to compensate for this difference using a paralleljaw gripper with fixed orientation. The idea is to arrange contact points on each gripper jaw so ..."
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Cited by 8 (5 self)
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For many industrial parts, their natural resting pose differs from the orientation desired for assembly. We have found that it is possible in many cases to compensate for this difference using a paralleljaw gripper with fixed orientation. The idea is to arrange contact points on each gripper jaw so that the part is reoriented as it is grasped. We analyze the mechanics of compensatory grasping based on a combination of toppling, jamming, accessibility, and form closure and describe an algorithm for the design of such grasps based on the constrained toppling graph. 1 Introduction Industrial parts on a flat worksurface will naturally come to rest in one of several stable orientations, but it is often necessary to rotate a part into a different orientation for assembly [1]. This paper proposes an inexpensive (minimalist) method for compensating for these differences in orientation by rotating the part to a desired orientation during grasping. As illustrated in Figure 1, the part is ini...
Modal Logics for Representing Incoherent Knowledge
 In Handbook of Defeasible Reasoning and Uncertainty Management
, 1995
"... In this paper we review ways of representing incoherent 'knowledge' in a consistent way, where the use of modal logic and Kripkestyle semantics is put central. Starting with a presentation of the basic modal framework, we discuss the basic modal systems K, KD (with an excursion to the representatio ..."
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Cited by 5 (0 self)
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In this paper we review ways of representing incoherent 'knowledge' in a consistent way, where the use of modal logic and Kripkestyle semantics is put central. Starting with a presentation of the basic modal framework, we discuss the basic modal systems K, KD (with an excursion to the representation of conflicting norms in deontic logic) and Chellas' minimal modal logic D. Next we look at the epistemic logics KD45, S4 and S5, including the logical omniscience problem and several nonstandard modal logics to overcome this problem. After this we turn to the issue of reasoning by default, where a conflict of defaults (or default beliefs) may arise. We give an epistemic treatment of default reasoning, and treat the way conflicts of defaults can be solved viewed from the more general perspective of resolving conflicts in meta level reasoning. Furthermore, special attention is paid to specificity in default reasoning as a principle to solve these conflicts, for which we develop an extension of Halpern & Moses' theory of honest formulas. Finally, we discuss several numerical modal logics in their capacity of ways of representation of incoherent information.
Shape Reconstruction in a Planar Dynamic Environment
 DEPT. OF COMPUTER SCIENCE, CARNEGIE MELLON UNIVERSITY
, 2001
"... We present a new method to reconstruct the shape of an unknown object using tactile sensors, without requiring object immobilization. Instead, sensing and nonprehensile manipulation occur simultaneously. The robot infers the shape, motion and center of mass of the object based on the motion of th ..."
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Cited by 3 (2 self)
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We present a new method to reconstruct the shape of an unknown object using tactile sensors, without requiring object immobilization. Instead, sensing and nonprehensile manipulation occur simultaneously. The robot infers the shape, motion and center of mass of the object based on the motion of the contact points as measured by the tactile sensors. We present analytic results and simulation results assuming quasistatic dynamics. We prove that the shape and motion are observable in both the quasistatic and the fully dynamic case.
Trends and Developments in Computational Geometry
 Computer Graphics Forum
, 1995
"... This report discusses some trends and achievements in computational geometry during the past five years, with emphasis on problems related to computer graphics. Furthermore, a direction of research in computational geometry is discussed, which could help in bringing the fields of computational ge ..."
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Cited by 2 (0 self)
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This report discusses some trends and achievements in computational geometry during the past five years, with emphasis on problems related to computer graphics. Furthermore, a direction of research in computational geometry is discussed, which could help in bringing the fields of computational geometry and computer graphics closer together.