Michael Erdmann Manipulation of Pose Distributions

Manipulation of Pose Distributions

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 deter...

Uncertainty Reduction Using Dynamics

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 deter...

An exploration of sensorless manipulation

Sensing Polygon Poses by Inscription

Yan-Bin Jia Michael Erdmann The Robotics Institute School of Computer Science Carnegie Mellon University Pittsburgh, PA 15213-3891 Abstract Industrial assembly involves sensing the pose (orientation and position) of a part. E cient and reliable sensing strategies can be developed for an assembly task if the shape of the part is known in advance. In this paper we investigate the problem of deter...

Local Observability of Rolling

This paper investigates local observability of the pose and motion of a curved threedimensional object rolling on a rough horizontal plane. The plane models a controllable robotic palm imbued with tactile sensors. The palm can accelerate in arbitrary translational directions and the tactile sensors can determine the contact location between the palm and the rolling object at every instant in ti...