An autonomous robotic manipulator can reduce uncertainty in the locations of objects in either of two ways: by sensing, or by motion strategies. This paper explores the use of motion strategies to eliminate uncertainty, without the use of sensors. The approach is demonstrated within the context of a simple method to orient planar objects. A randomly oriented object is dropped into a tray. When the tray is tilted, the object can slide into walls, along walls, and into corners, sometimes with the effect of reducing the number of possible orientations. For some objects a sequence of tilting operations exists that leaves the object's orientation completely determined. The paper describes an automatic planner that constructs such a tilting program, using a simple model of the mechanics of sliding. The planner has been implemented, the resulting programs have been executed using a tray attached to an industrial manipulator, and sometimes the programs work. The paper also explores the issue of sensorless manipulation, tray-tilting in particular, within the context of a formal framework first described by Lozano-Perez, Mason, and Taylor [1984]. It is observed that sensorless motion strategies perform conditional actions using mechanical decisions in place of environmental inquiries.

An exploration of sensorless manipulation

A geometric approach to error detection and recovery for robot motion planning with uncertainty

This paper concerns the automated design of parts feeders- a dual to the motion planning problem. Three particular paradigms for feeders are presented and their computational abstractions analyzed. The focus is on the computational issues involved and not on the physics of the problem.

Some Paradigms for the Automated Design of Parts Feeders

We show that if the state set Q of a synchronizing automaton A = 〈Q, Σ, δ〉 admits a linear order such that for each letter a ∈ Σ the transformation δ(_,a) of Q preserves this order, then A possesses a reset word of length |Q| - 1. We also consider two natural generalizations of the notion of a reset word and provide for them results of a similar flavour.

Synchronizing monotonic automata

This paper describes our current research into nonprehensile palm manipulation. The term “palm” refers to the use of the entire device surface during manipulation, as opposed to use of the fingertips alone. The term “nonprehensile” means that the palms hold the object without wrapping themselves around it, as distinguished from a force/from closure grasp often employed by a fingered hand. Indeed, nonprehensile operations such as purposeful sliding and constrained dropping constitute important palm primitives.

An Exploration of Nonprehensile Two-Palm Manipulation: Planning and Execution

This paper concerns the design of parts orienters - the dual to the motion planning problem. Two particular paradigms are considered and their abstractions to the computational domain lead to interesting problems in graph pebbling and function composition on finite sets. Polynomial time algorithms are developed for the abstracted problems.

An algorithmic approach to the automated design of parts orienters

Handle everyday research tasks with reliable, citation-backed results

Your personal Research Agent to handle research tasks with citation-backed results

Popular Tasks used by Researchers

How can I help with your research?

Meet SciSpace

Get more enhanced response by uploading the PDFs you want me to reference.

No relevant PDFs in your library

SciSpace is the AI research assistant for academics. Run systematic literature reviews on 280M+ papers, and write papers with cited sources. Trusted by 1M+ students, PhDs & researchers.

SciSpace | AI for Research

Analyze PDFs

Code & Manuscripts

Funding & Grants

Literature & Patents

Medical & Clinical Data

Systematic Review

Visualize & Present

Web & Data

Build a Google Scholar-like website for your research.

Build a website

Create charts and images for your research

Create a Chart

Write a paper for submission to a journal

Draft a manuscript

Patent Search

Design eye-catching scientific posters in minutes.

Scientific Poster Generation

Systematic Literature Review

One task is running at the moment. Your messages will be shown right after.

Drag and drop or click here to browse

Loved by <highlight>1 million+</highlight> researchers

Extract a list of specific topics and their sources from unstructured text

Topics

Compare and analyze relevant papers that matches with your search

Papers

Get insights from PDFs and bookmarked papers from your library

My library

Recent searches

Try searching for:

Catch AI-generated content in scholarly and non-scholarly content

{ai} Detector

Ai Writer

Get PDF Summaries, highlighted text explanations 

Chat with PDF

Effortlessly create in-text citations and bibliographies in APA and 2,500 other formats

Citation generator

Get explanations, summaries, and answers on academic papers

Ease up your research workflow with {scispace}'s cohort of exciting AI tools

Elevate your academic writing skills and convey your ideas the way you want

Paraphraser

Explore our range of reading and writing tools

Your file is being prepared and should be ready in a few minutes. If it's a large file, it might take a bit longer. You can close this window, and we'll email you the file when it's done.

You have reached a maximum limit of <strong>{limit}</strong> columns in the table. Remove at least <strong>1</strong> column to add or create another one.

B. K. Natarajan

Author Tools

Chat about Author

Papers

An algorithmic approach to the automated design of parts orienters