Catastrophe theory model of planar orientation

International Journal of Robotics Research

Volumn 19, Issue 6, 2000, Pages 531-565

  Wright, Mark W ^a   Deacon, Graham E ^b  

^a UNIVERSITY OF EDINBURGH   (United Kingdom)

^b UNIVERSITY OF SURREY   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

CHEMICAL ANALYSIS; COMPUTATION THEORY; DIMENSIONAL STABILITY; FEEDING; FRICTION; MATHEMATICAL MODELS; TOPOLOGY;

BROST'S PUSH STABILITY DIAGRAM (PSD); CATASTROPHE THEORY; COULOMB FRICTION; PLANAR ORIENTATION;

ROBOTICS;

EID: 0034197354     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/027836490001900601     Document Type: Article

References (54)

1. Akella, S. 1996. Robotic Manipulation for Parts Transfer and Orienting. Ph.D. thesis, Robotics Institute, Carnegie-Mellon University, Pittsburgh, PA. (Also: Carnegie-Mellon University Robotics Institute Technical Report CMU-RI-TR-96-38).
2. Akella, S., Huang, W., Lynch, K., and Mason, M. 1996. Planar manipulation on a conveyor with a one joint robot. In Proc. 7th Int. Symp. Robotics Research, ed. G. Giralt and G. Hirzinger, 265-276. London: Springer.
3. Akella, S., Huang, W., Lynch, K., and Mason, M. 1997. Sensorless part orienting with a one-joint manipulator. IEEE Int. Conf. on Robotics and Automation, Albuquerque, NM, pp. 2383-2390.
4. Akella, S., and Mason, M. 1998a. Parts orienting with shape uncertainty. IEEE Int. Conf. on Robotics and Automation, Leuven, Belgium, pp. 565-572.
5. Akella, S., and Mason, M. 1998b. Posing polygonal objects in the plane by pushing. Int. J. of Robotics Research 17(1):70-88.
6. Alexander, J., and Maddocks, J. 1993. Bounds on the friction dominated motion of a pushed object. Int. J. of Robotics Research 12(3):231-248.
7. Balorda, Z. 1990. Reducing uncertainty of objects by robot pushing. IEEE Int. Conf. on Robotics and Automation, Cincinnati, OH, pp. 1051-1056.
8. Balorda, Z. 1993. Automatic planning of robot pushing operations. IEEE Int. Conf. on Robotics and Automation, Atlanta, GA, pp. 732-737.
9. Balorda, Z., and Bajd, T. 1994. Reducing positioning uncertainty of objects by robot pushing. IEEE Trans. on Robotics and Automation 10(4):535-541.
10. Boothroyd, G. 1992. Assembly Automation and Product Design. New York: Marcel Dekker.
11. Brokowski, M., Peshkin, M., and Goldberg, K. 1995. Optimal curved fences for part alignment on a belt. ASME J. of Mechanical Design 117:27-35.
12. Brost, R. 1985. Planning robot grasping motions in the presence of uncertainty. Technical Report CMU-RI-TR-85-12, The Robotics Institute, Carnegie-Mellon University, Pittsburgh, PA.
13. Brost, R. 1988. Automatic grasp planning in the presence of uncertainty. Int. J. of Robotics Research 7(1):3-17.
14. Brost, R. 1991a. Analysis and Planning of Planar Manipulation Tasks. Ph.D. thesis, Department of Computer Science, Carnegie-Mellon University, Pittsburgh, PA. (Also: Technical Report CMU-CS-91-149, Department of Computer Science, Carnegie-Mellon University).
15. Brost, R. 1991b. Computing the possible rest configurations of two interacting polygons. IEEE Int. Conf. on Robotics and Automation, Sacramento, CA, pp. 686-693.
16. Bruce, J., and Giblin, P. 1992. Curves and Singularities, 2d ed. Cambridge, UK: Cambridge University Press.
17. Caine, M. 1993. The Design of Shape from Motion Constraints. Ph.D. thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge. (Also: MIT AI Lab. Technical Report 1425).
18. Deacon, G. 1992. An algorithm for orienting objects in a minimum number of robot sweeping motions. Working paper, Department of Artificial Intelligence, University of Edinburgh, Edinburgh, Scotland.
19. Deacon, G., Low, P., and Malcolm, C. 1993. Orienting objects in a minimum number of robot sweeping motions. Proc. 6th Int. Conf. on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, Edinburgh, Scotland, pp. 494-503.
20. Deacon, G., Wright, M., and Malcolm, C. 1997a. Qualitative transitions in object reorienting behavior, Part 1: The effects of varying friction. Proc. IEEE Int. Conf. on Robotics and Automation, Albuquerque, NM, pp. 2697-2704.
21. Deacon, G., Wright, M., and Malcolm, C. 1997b. Qualitative transitions in object reorienting behavior, Part 2: The effects of varying the center of mass. Proc. IEEE/RSJ 1997 Int. Conf. on Intelligent Robots and Systems, Grenoble, France, pp. 441-449.
22. Do Carmo, M. 1976. Differential Geometry of Curves and Surfaces. Englewood Cliffs, NJ: Prentice Hall.
23. Goldberg, K. (1990). Stochastic Plans for Robotic Manipulation. Ph.D. thesis, Department of Computer Science, Carnegie-Mellon University, Pittsburgh, PA. (Also: Technical Report CMU-CS-90-161, Department of Computer Science, Carnegie-Mellon University).
24. Goldberg, K. 1993. Orienting polygonal parts without sensors. Algorithmica 10(2):201-225.
25. Goyal, S., Ruina, A., and Papadopoulos, J. 1991. Planar sliding with dry friction. Part 1. Limit surface and moment function. Wear 143:307-330.
26. Hilbert, D., and Cohn-Vossen, S. 1952. Geometry and the Imagination (Translated from the 1932 German edition by P. Nemenyi). New York: Chelsea.
27. Hines, R., Marsh, D., and Duffy, J. 1998. Catastrophe analysis of the planar two-spring mechanism. Int. J. of Robotics Research 17(1):89-101.
28. Howe, R., and Cutkosky, M. 1996. Practical force-motion models for sliding manipulation. Int. J. of Robotics Research 15(6):557-572.
29. Kovach, L. 1982. Advanced Engineering Mathematics. Reading, MA: Addison Wesley.
30. Kriegman, D. 1995. Let them fall where they may: Capture regions of curved objects and polyhedra. Technical Report 9508, Center for Systems Science, Department of Electrical Engineering, Yale University, New Haven, CT. (To appear in the Int. J. of Robotics Research).
31. Lipschutz, M. 1969. Theory and Problems of Differential Geometry. Schaum's Outline Series in Mathematics. New York: McGraw-Hill.
32. Lynch, K. 1992. The mechanics of fine manipulation by pushing. IEEE Int. Conf. on Robotics and Automation, Nice, France, pp. 2269-2276.
33. Lynch, K. 1996. Nonprehensile Robotic Manipulation: Controllability and Planning. Ph.D. thesis, Robotics Institute, Carnegie-Mellon University, Pittsburgh, PA. (Also: Carnegie-Mellon University Robotics Institute Technical Report CMU-RI-TR-96-05).
34. Lynch, K., and Mason, M. 1995. Stable pushing: Mechanics, controllability, and planning. In Algorithmic Foundations of Robotics, ed. K. Goldberg, D. Halperin, J.-C. Latombe, and R. Wilson. Wellesley, MA: A. K. Peters.
35. Mani, M., and Wilson, W. 1985. A programmable orienting system for flat parts. Proc. North American Manufacturing Research Institute Conference XIII, Berkeley, CA, pp. 427-432.
36. Marsh, D., Hines, R., and Duffy, J. 1996. Stability analysis of compliant mechanisms. In Recent Advances in Robot Kinematics, ed. J. Lenarčič and V. Parenti-Castelli, 129-138. The Netherlands: Kluwer Academic.
37. Mason, M. 1982. Manipulator Grasping and Pushing Operations. Ph.D. thesis, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, Cambridge. (Also: MIT AI Lab. Technical Report 690, and reprinted in Robot Hands and the Mechanics of Manipulation, ed. M. T. Mason and J. K. Salisbury. Cambridge, MA: MIT Press, 1985).
38. Mason, M. 1985. The mechanics of manipulation. IEEE Int. Conf. on Robotics and Automation, pp. 544-548.
39. Mason, M. 1986. Mechanics and planning of manipulator pushing operations. Int. J. of Robotics Research 5(3):53-71.
40. Mason, M., and Brost, R. 1986. Automatic grasp planning: An operation space approach. In Proc. RoManSy 6, The 6th CISM-IFToMM Symp. on Theory and Practice of Robots and Manipulators, ed. A. Morecki, G. Bianchi, and K. Kȩdzior, 380-387. Paris: Hermes.
41. Meriam, J. 1975. Statics, 2d ed. New York: John Wiley.
42. Mottaez, A., and Goldberg, K. 1993. Locating polygonal parts without sensors. SPIE Conf. on Sensors and Controls for Automated Manufacturing Systems, Boston, MA.
43. Peshkin, M. 1986. Planning Robotic Manipulation Strategies for Sliding Objects. Ph.D. thesis, Department of Physics and the Robotics Institute, Carnegie-Mellon University, Pittsburgh, PA.
44. Peshkin, M., and Sanderson, A. 1988a. The motion of a pushed, sliding workpiece. IEEE J. of Robotics and Automation 4(6):569-598.
45. Peshkin, M., and Sanderson, A. 1988b. Planning robotic manipulation strategies for workpieces that slide. IEEE J. of Robotics and Automation 4(5):524-531.
46. Peshkin, M., and Sanderson, A. 1989. Minimization of energy in quasi-static manipulation. IEEE Trans. on Robotics and Automation 5(1):53-60.
47. Pham, D., Cheung, K., and Yeo, S. 1990. Initial motion of a rectangular object being pushed or pulled. IEEE Int. Conf. on Robotics and Automation, Cincinnati, OH, pp. 1046-1050.
48. Poston, T., and Stewart, I. 1978. Catastrophe Theory and Its Applications. London: Pitman.
49. Rao, A., and Goldberg, K. 1993. Manipulating algebraic parts in the plane. Technical Report RUU-CS-93-43, Department of Computer Science, Utrecht University, Utrecht, the Netherlands.
50. Rao, A., and Goldberg, K. 1995. Manipulating algebraic parts in the plane. IEEE Transactions on Robotics and Automation 11(4):598-602.
51. Thom, R. 1975. Structural Stability and Morphogenesis (Translated from the 1972 French edition by D. H. Fowler). New York: Benjamin-Addison Wesley.
52. Wiegley, J., Goldberg, K., Peshkin, M., and Brokowski, M. 1996. A complete algorithm for designing passive fences to orient parts. IEEE Int. Conf. on Robotics and Automation, Minneapolis, MN, pp. 1133-1139.
53. Wright, M., Fitzgibbon, A., Giblin, P., and Fisher, R. 1996a. Beyond the Hough transform: Further properties of the Rθ mapping and their applications. In Object Representation in Computer Vision II, Springer Lecture Notes in Computer Science Vol. 1144. Ed. J. Ponce, A. Zisserman, and M. Hebert, 361-380. Heidelberg: Springer-Verlag.
54. Wright, M., Fitzgibbon, A., Giblin, P., and Fisher, R. 1996b. Convex hulls, occluding contours, aspect graphs and the Hough transform. Image and Vision Computing 14(8):627-634.