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...

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...

Manipulating articulated objects is an important skill for robots operating in human environments. We propose to learn a physical model of the dynamics of articulated objects to accurately predict the motion of the object. Being aware of the dynamic effects of its actions, the robot no longer needs to maintain a firm grasp of the handle over the full course of the manipulation, which allows for...

Vibratory manipulation is any mode of manipulation involving repeated impacts due to a striker which follows some periodic motion. In this paper, we study vibratory manipulation in the context of tapping planar objects which slide on a fixed support surface. We are interested in the behaviors an object exhibits under such excitation. There are two distinct types of tapping that can result: cont...