Class 14 (May 20) :
- Sensorless motion planning
- Raking advantages of task mechanics
- Part orientation by squeezing
- Part orientation by traps and/or fences
- Motion space and nondirectional blocking graph
- Part positioning by force field
- Required Readings:
- Seminal paper on part squeezing:
K. Goldberg. Orienting Polygonal Parts Without Sensors.
Algorithmica, 10(3):201-225, 1993.
- Force fields:
A. Sudsang and L. Kavraki.
A Geometric Approach to Designing a Programmable
Force Field with a Unique Stable Equilibrium for
Parts in the Plane.
Proc. IEEE Int. Conf. on Robotics
and Automation, Seoul, Korea, 2001.
- Other Readings:
- Trap design:
R.P. Berretty, L. Cheung, K. Goldberg, M.H. Overmars, G. Smith,
A.F. van der Stappen.
Trap design for vibratory bowl feeders.
Proceedings of the IEEE International Conference on Robotics and
Automation, pages 2558-2563, 1999 .
- Some of the best research in sensorless part orientation is conducted by Mike
Goldberg, Kevin Lynch,
Mason. Visit their web sites.