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CMU-CS-00-111
Computer Science Department
School of Computer Science, Carnegie Mellon University
CMU-CS-00-111
Manipulation of Pose Distributions
Mark Moll, Michael Erdmann
March 2000
CMU-CS-00-111.ps
CMU-CS-00-111.pdf
Keywords: Pose distributions, parts orienting, dynamic
simulation, nonprehensile manipulation
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.
36 pages
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