Generating Stochastic Plans for a Programmable Parts Feeder

Kenneth Y. Goldberg, Matthew T. Mason, and Michael Erdmann
IEEE International Conference on Robotics and Automation, April, 1991, pp. 352 - 359.


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Abstract
A programmable parts feeder, a mechanism that can be reprogrammed to handle differently shaped parts, is discussed. The authors present a planning algorithm that accepts an n-sided polygonal part as input and, in time O(n/sup 2/), generates a program (plan) for the feeder that maximizes expected feedrate. They have implemented the planner and verified some of the resulting plans in the laboratory. This work illustrates a stochastic framework for manipulation planning.

Notes

Text Reference
Kenneth Y. Goldberg, Matthew T. Mason, and Michael Erdmann, "Generating Stochastic Plans for a Programmable Parts Feeder," IEEE International Conference on Robotics and Automation, April, 1991, pp. 352 - 359.

BibTeX Reference
@inproceedings{Mason_1991_1512,
   author = "Kenneth Y. Goldberg and Matthew T. Mason and Michael Erdmann",
   title = "Generating Stochastic Plans for a Programmable Parts Feeder",
   booktitle = "IEEE International Conference on Robotics and Automation",
   pages = "352 - 359",
   address = "Sacramento, CA",
   month = "April",
   year = "1991",
   volume = "1",
}